Direction following control of planar snake robots using virtual holonomic constraints

Abstract

This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness of the system states. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait… (More)
DOI: 10.1109/CDC.2014.7039981

Topics

9 Figures and Tables

Cite this paper

@article{Mohammadi2014DirectionFC, title={Direction following control of planar snake robots using virtual holonomic constraints}, author={Alireza Mohammadi and Ehsan Rezapour and Manfredi Maggiore and Kristin Ytterstad Pettersen}, journal={53rd IEEE Conference on Decision and Control}, year={2014}, pages={3801-3808} }