Study on the optimal passive creeping control of the snake-like robot
文献类型：会议论文
| 作者 | Zhang DF(张丹凤) ; Wu CD(吴成东); Li B(李斌)
|
| 出版日期 | 2012 |
| 会议名称 | 2012 10th World Congress on Intelligent Control and Automation (WCICA) |
| 会议日期 | July 6-8, 2012 |
| 会议地点 | Beijing, China |
| 关键词 | snake-like robot avoid slipping optimal torque |
| 页码 | 99-103 |
| 中文摘要 | Reducing the energy dissipation can improve the movement efficiency of a snake-like robot. Avoiding side slipping is the main way to reduce the energy dissipation. A creeping control method for the snake-like robot, named optimal passive creeping, is proposed. This method makes the robot avoid slipping by inputting the proper torque which is adjusted by its body shape. The purpose of the control method is to insure that the snake-like robot’s velocity is the fastest before side slipping. In simulation, the angles, torques, energy states of the snake-like robot are revealed, and whether the snake-like robot has slipped is analyzed by accumulating the energy dissipation. The simulations demonstrate the validity of the optimal passive creeping control method. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Control Systems Society |
| 会议录 | Proceedings of the 10th World Congress on Intelligent Control and Automation
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-1398-8 |
| 源URL | [http://ir.sia.cn/handle/173321/10217]  |
| 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 | Zhang DF,Wu CD,Li B. Study on the optimal passive creeping control of the snake-like robot[C]. 见:2012 10th World Congress on Intelligent Control and Automation (WCICA). Beijing, China. July 6-8, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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