Back to Search
Start Over
Path-following Control of a Snake Robot With Multiple Passive Joints.
- Source :
- International Journal of Control, Automation & Systems; Aug2024, Vol. 22 Issue 8, p2551-2562, 12p
- Publication Year :
- 2024
-
Abstract
- A snake robot should be robust to actuator failures because it has more actuators than required for locomotion. However, controlling a snake robot is problematic if some of the joints become passive because of problems in power supply lines. In a recent study, we proposed a controller to achieve path-following in cases where one of the joints is passive. However, the controller applies only to cases with a single passive joint. With two or more passive joints, it cannot be applied even if sufficient active joints remain. This paper considers the path-following control of a snake robot with passive joints by extending our previous study (the single passive joint case). The validity of the method is verified by numerical simulation. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 15986446
- Volume :
- 22
- Issue :
- 8
- Database :
- Complementary Index
- Journal :
- International Journal of Control, Automation & Systems
- Publication Type :
- Academic Journal
- Accession number :
- 178805202
- Full Text :
- https://doi.org/10.1007/s12555-023-0410-y