지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 678 - 683 (6page)
이용수
이 논문의 연구 히스토리 (2)
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
The long-term goal of this study is to realize a locomotion control for snake-like robots on various environments. Key points for robots to adapt to various environments are measurement of stress applied to robots, and to realize locomotion control utilizing the stress. The observation leads to utilize a spring because a spring twists by the applied stress and generates energy by being twisted. We suggest a rotational elastic actuator (REA) consisting of a motor and a spring, and have developed a snake-like robot installing this mechanism at each joint. However, an effective locomotion control of the snake-like robot with REAs has not realized yet. In this paper, a controller tracking a serpenoid curve formulated from snake’s kinematics is suggested based on a dynamic model with REAs. To realize such controller, the dynamic model of the snake-like robot with REAs is derived by the Projection Method. The derived dynamic model is linearized by an input-output linearization technique. A servo controller is also designed by utilizing the linearized system with its state space representation. A smooth locomotion of the snake-like robot with REAs tracking a serpenoid curve utilizing the designed servo controller is verified through numerical simulations.
목차
Abstract
1. INTRODUCTION
2. MODELING OF THE SNAKE-LIKE ROBOT WITH REAS
3. CONTROL SYSTEM DESIGN
4. NUMERICAL SIMULATION ON THE HORIZONTAL PLANE
5. CONCLUSION
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
이 논문과 함께 이용한 논문
최근 본 자료
댓글(0)
0