A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry
文献类型：期刊论文
| 作者 | Wang ZF(王智锋); Ma SG(马书根) ; Li B(李斌); Wang YC(王越超)
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| 刊名 | SCIENCE CHINA-INFORMATION SCIENCES
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| 出版日期 | 2011 |
| 卷号 | 54期号:2页码:318-333 |
| 关键词 | snake-like robot dynamics unified model differential geometry locomotion manipulation |
| ISSN号 | 1674-733X |
| 产权排序 | 1 |
| 中文摘要 | A snake-like robot, whose body is a seried-wound articulated mechanism, can move in various environments. In addition, when one end is fixed on a base, the robot can manipulate objects. A method of dynamic modeling for locomotion and manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. The transformation from locomotion to manipulation is a mechanism reconfiguration, that is, the robot in locomotion has not a fixed base, but it in manipulation has one. First, a virtual structure method unifies the two states in mechanism (e.g., an embedding in the configuration space); second, the product-of-exponentials formula describes the kinematics; third, the dynamics of locomotion and manipulation are established in a Riemannian manifold; finally, based on the analysis of the dynamic model, the dynamics of manipulation can be directly degenerated from those of locomotion, and this degeneration relation is proved through using the Gauss equations. In the differential geometry formulation, this method realizes the unification of the dynamics of locomotion and manipulation. According to a geometrical point of view, the unified dynamic model for locomotion and manipulation is considered as a submanifold problem endowed with geometric meaning. In addition, the unified model offers an insight into the dynamics of the snake-like robot beyond the dynamic model separately established for locomotion or manipulation. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 收录类别 | SCI ; EI |
| 资助信息 | This work was supported by the Knowledge Innovation Program of the Chinese Academy of Sciences (Grant No. 07A1200101), and the National High-Tech Research & Development Program of China(Grant No. 2006AA04Z254). |
| 语种 | 英语 |
| WOS记录号 | WOS:000287703200010 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7292]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang ZF,Ma SG,Li B,et al. A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry[J]. SCIENCE CHINA-INFORMATION SCIENCES,2011,54(2):318-333. |
| APA | Wang ZF,Ma SG,Li B,&Wang YC.(2011).A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry.SCIENCE CHINA-INFORMATION SCIENCES,54(2),318-333. |
| MLA | Wang ZF,et al."A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry".SCIENCE CHINA-INFORMATION SCIENCES 54.2(2011):318-333. |
入库方式： OAI收割
来源：沈阳自动化研究所
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