Motion Control of Biomimetic Snake Robots with Adaptation to Variable Environmental Condition
Date Issued
2008
Date
2008
Author(s)
Yeh, Shang-Wei
Abstract
Snakes have excellent terrain adaptability. They change their moving postures to adapt to different terrains and can move efficiently in almost all kinds of environments. By the inspiration from snakes, biomimetic snake robots are developed for superior moving capability. Such snake robots are suitable for wide engineering applications, especially for search and exploration tasks. any researches have been done on modeling, control, and manufacture of snake robots. However, there are few studies devoted to the terrain adaptability of snake robots.n this thesis, a mathematic dynamic model of a multi-link wheeled snake robot is derived and analyzed based on a snake-like locomotion. In the basis of the analysis, the dynamic model is approximated to a linear model. According to the approximate linear model, a model-reference adaptive control architecture is proposed for adaptive motion control of the snake robot. With the control system, the velocity and angular velocity, or velocity and moving direction of the snake robot can be controlled simultaneously with adaptation to variable ground friction.inally, to examine the convergence and adaptability, the control system is tested in several different cases by numerical simulations, and the results are exhibited and discussed.
Subjects
snake robot
serpentin locomtoion
modeling
control of adaptability
Type
thesis
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