Trajectory Control of Snake-Like Robots in Natural Oscillation

Trajectory Control of Snake-Like Robots in Natural Oscillation

A class of body movement patterns called natural oscillation has been revealed to mimic the gaits observed in many animals. In this paper, we introduce an additional higher level control loop that is capable of manipulating a robot's motion orientation. With such a new orientation turning funct...

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Veröffentlicht in:Asian journal of control 2016-09, Vol.18 (5), p.1908-1913
Hauptverfasser: Jin, Huifeng, Zhu, Lijun, Chen, Zhiyong
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Sprache:eng
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Bio-inspired control
Control systems
locomotion
natural oscillation
robotics
Robots
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container_issue 5
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container_title Asian journal of control
container_volume 18
creator Jin, Huifeng
Zhu, Lijun
Chen, Zhiyong
description A class of body movement patterns called natural oscillation has been revealed to mimic the gaits observed in many animals. In this paper, we introduce an additional higher level control loop that is capable of manipulating a robot's motion orientation. With such a new orientation turning functionality, a snake‐like robot is able to achieve trajectory tracking while maintaining its body in a natural oscillation gait. The effectiveness of the control design is illustrated by some case studies with various trajectories.
doi_str_mv 10.1002/asjc.1271
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subjects Bio-inspired control
Control systems
locomotion
natural oscillation
robotics
Robots
title Trajectory Control of Snake-Like Robots in Natural Oscillation
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