Control of snake-like robot based on nonlinear controllability analysis

  title={Control of snake-like robot based on nonlinear controllability analysis},
  author={Masato Ishikawa and Katsuya Owaki and Masahide Shinagawa and Toshiharu Sugie},
  journal={2010 IEEE International Conference on Control Applications},
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 model of the n-link snake robot as a driftless system on a principal fiber bundle whose structure group is SE(2). Second, we introduce a method… CONTINUE READING

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