Serpentine motion control of snake robots for curvature and heading based trajectory - Parameterization

Eleni Kelasidi, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The control problem for the serpentine motion of a planar snake under the assumption of a trajectory characterized by its curvature and heading is examined in this article. The time varying curvature and heading attributes of the trajectory result in a sinusoidal reference signal for the joint angles. An inner loop PD-controller is used for trajectory tracking by compensating the effects of the snake's dynamics, while an outer loop first-order controller is used for the formation of the reference joint angles by tracking the desired heading and velocity. Simulation studies on spiral curves are included to investigate the efficiency of the controller.

Original languageEnglish (US)
Title of host publication2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
Pages536-541
Number of pages6
DOIs
StatePublished - Oct 5 2012
Event2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain
Duration: Jul 3 2012Jul 6 2012

Other

Other2012 20th Mediterranean Conference on Control and Automation, MED 2012
CountrySpain
CityBarcelona
Period7/3/127/6/12

Fingerprint

Motion control
Parameterization
Trajectories
Robots
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kelasidi, E., & Tzes, A. (2012). Serpentine motion control of snake robots for curvature and heading based trajectory - Parameterization. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings (pp. 536-541). [6265693] https://doi.org/10.1109/MED.2012.6265693

Serpentine motion control of snake robots for curvature and heading based trajectory - Parameterization. / Kelasidi, Eleni; Tzes, Antonios.

2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 536-541 6265693.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kelasidi, E & Tzes, A 2012, Serpentine motion control of snake robots for curvature and heading based trajectory - Parameterization. in 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings., 6265693, pp. 536-541, 2012 20th Mediterranean Conference on Control and Automation, MED 2012, Barcelona, Spain, 7/3/12. https://doi.org/10.1109/MED.2012.6265693
Kelasidi E, Tzes A. Serpentine motion control of snake robots for curvature and heading based trajectory - Parameterization. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 536-541. 6265693 https://doi.org/10.1109/MED.2012.6265693
Kelasidi, Eleni ; Tzes, Antonios. / Serpentine motion control of snake robots for curvature and heading based trajectory - Parameterization. 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. pp. 536-541
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