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Artificial Life and Robotics

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03-03-2022 | Original Article

Head trajectory tracking control of an extendable snake-like robot

Authors: Koki Harada, Ryo Ariizumi, Motoyasu Tanaka, Toru Asai, Shun-ichi Azuma

Published in: Artificial Life and Robotics | Issue 2/2022

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Abstract

In recent years, extendable snake-like robots are attracting researchers’ interest. A large number of degrees of freedom make it possible for the robots to perform new gaits. It is expected that the telescopic motion can also give the robots higher adaptability for the environment. In this paper, we propose a controller of an extendable snake-like robot for head trajectory tracking and show the effectiveness of the extendable snake-like robot by comparison to an ordinary snake-like robot.

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Title: Head trajectory tracking control of an extendable snake-like robot
Authors: Koki Harada
Ryo Ariizumi
Motoyasu Tanaka
Toru Asai
Shun-ichi Azuma
Publication date: 03-03-2022
Publisher: Springer Japan
Published in: Artificial Life and Robotics / Issue 2/2022
Print ISSN: 1433-5298
Electronic ISSN: 1614-7456
DOI: https://doi.org/10.1007/s10015-022-00750-1

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