Body shape and orientation control for locomotion of biologically-inspired snake robots

  title={Body shape and orientation control for locomotion of biologically-inspired snake robots},
  author={Ehsan Rezapour and Kristin Ytterstad Pettersen and Jan Tommy Gravdahl and P{\aa}l Liljeb{\"a}ck},
  journal={5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics},
This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic feedback control law for the joints of the robot to track a desired gait pattern. This tracking control law depends on the time evolution of the state variables of a dynamic compensator which is used for controlling the orientation of the robot. In particular, we employ the… CONTINUE READING


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