Control of snake-like robot based on nonlinear controllability analysis

Abstract

Snake-like robot is a stimulating example of nonlinear and nonholonomic system for its versatile locomotive behavior and complicated controllability structure. In this paper, we investigate locomotion control of a snake robot using oscillatory inputs based on nonlinear controllability analysis and the principle of holonomy. First, we give a mathematical… (More)
DOI: 10.1109/CCA.2010.5611212

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