Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators
文献类型：期刊论文
| 作者 | Dong Zhang; Hao Yuan; Zhengcai Cao |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:3页码:745-751 |
| 关键词 | Adaptive control snake-like robot variable stiffness |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2020.1003144 |
| 英文摘要 | This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magneto-rheological fluid (MRF) around actuators. In order to improve the robot’s physical stability in complex environments, this work proposes an adaptive stiffness control strategy. This strategy is also useful for the robot to avoid disturbing caused by emergency situations such as collisions. In addition, to obtain optimal stiffness and reduce energy consumption, both torques of actuators and stiffness of the MRF braker are considered and optimized by using an evolutionary optimization algorithm. Simulations and experiments are conducted to verify the proposed adaptive stiffness control and optimization methods for a variable stiffness snake-like robots. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42985]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Dong Zhang,Hao Yuan,Zhengcai Cao. Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):745-751. |
| APA | Dong Zhang,Hao Yuan,&Zhengcai Cao.(2020).Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators.IEEE/CAA Journal of Automatica Sinica,7(3),745-751. |
| MLA | Dong Zhang,et al."Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators".IEEE/CAA Journal of Automatica Sinica 7.3(2020):745-751. |
入库方式： OAI收割
来源：自动化研究所
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