Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory
文献类型：期刊论文
| 作者 | Guo X(郭宪) ; Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
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| 刊名 | Science China Information Sciences
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| 出版日期 | 2015 |
| 卷号 | 58期号:3页码:1-13 |
| 关键词 | snake-like robot redundant torque fiber bundle theory nonholonomic optimal control |
| ISSN号 | 1674-733X |
| 产权排序 | 1 |
| 通讯作者 | 王明辉 |
| 中文摘要 | For the snake-like robot with passive wheels, the side constraint force provides the required thrust which is less than the maximum static friction. Minimizing the side constraint force can reduce possibility of skidding which is important to ensure stable and efficient motion of the robot. In this paper we model the snakelike robot based on the fiber bundle theory. This method can reduce the complexity of the dynamics and derive the exact analytical solution for the side constraint force which is linear to the redundant torque. Using the linear relation, we can derive directly the optimal torque by minimizing the side constraint force. Additionally the nonholonomic constraint can be used for constructing the connection of the fiber bundle. Using the connection, we can select the gait of the snake-like robot. The position and orientation of the head can be described in terms of the special Euclidean group SE(2) which is also the structure group of the fiber bundle. Using the symmetry of the structure group, we can reduce the dynamics equations and derive the analytical solution for the side constraint force. Kinematics and dynamics simulations validate the proposed methods. © 2015 Science China Press and Springer-Verlag Berlin Heidelberg |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | LOCOMOTION ; MECHANICS |
| 收录类别 | SCI ; EI ; CSCD |
| 语种 | 英语 |
| WOS记录号 | WOS:000349811500014 |
| 公开日期 | 2015-03-17 |
| 源URL | [http://ir.sia.cn/handle/173321/15748]  |
| 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 | Guo X,Ma SG,Li B,et al. Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory[J]. Science China Information Sciences,2015,58(3):1-13. |
| APA | Guo X,Ma SG,Li B,Wang MH,&Wang YC.(2015).Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory.Science China Information Sciences,58(3),1-13. |
| MLA | Guo X,et al."Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory".Science China Information Sciences 58.3(2015):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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