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Artificial Life and Robotics
Erschienen in: Artificial Life and Robotics 3/2016

01.09.2016 | Special Feature: Original Article

Formation control of underactuated bio-inspired snake robots

verfasst von: Ehsan Rezapour, Kristin Y. Pettersen, Jan T. Gravdahl, Andreas Hofmann

Erschienen in: Artificial Life and Robotics | Ausgabe 3/2016

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Abstract

This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some pre-specified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multi-agent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.
Vorheriger Artikel A robot leg with compliant tarsus and its neural control for efficient and adaptive locomotion on complex terrains
Nächster Artikel Swarm robotic network using Lévy flight in target detection problem

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Metadaten
Titel
Formation control of underactuated bio-inspired snake robots
verfasst von
Ehsan Rezapour
Kristin Y. Pettersen
Jan T. Gravdahl
Andreas Hofmann
Publikationsdatum
01.09.2016
Verlag
Springer Japan
Erschienen in
Artificial Life and Robotics / Ausgabe 3/2016
Print ISSN: 1433-5298
Elektronische ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-016-0297-2

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