JRM Vol.21 No.1 pp. 66-73
doi: 10.20965/jrm.2009.p0066


Control of a Two-Joint, Two-Steering Snake-Like Robot

Hiroaki Yamaguchi

Department of Integrated Information Technology, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara-shi, Kanagawa 229-8558, Japan

July 10, 2008
July 14, 2008
February 20, 2009
snake-like robot, nonholonomic system, nonlinear control, differential geometry, chained form
This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations.

This paper is the full translation from the transactions of JSME Vol.71, No.706.
Cite this article as:
H. Yamaguchi, “Control of a Two-Joint, Two-Steering Snake-Like Robot,” J. Robot. Mechatron., Vol.21 No.1, pp. 66-73, 2009.
Data files:
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