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The highly redundant nature of a snake robot will enable the robot to complete its task even with a passive joint caused by an actuator failure. However, existing control methods… Click to show full abstract
The highly redundant nature of a snake robot will enable the robot to complete its task even with a passive joint caused by an actuator failure. However, existing control methods cannot be applied to a snake robot with a passive joint. This paper proposes a control law that achieves linear path-following control of a snake robot with a passive joint. The effectiveness of our control method is shown via numerical simulation and experiment. GRAPHICAL ABSTRACT
Keywords:
control snake;
control;
path tracking;
snake robot;
passive joint;
robot passive
Journal Title: Advanced Robotics
Year Published: 2023
Link to full text (if available)
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Journal Title: Advanced Robotics
Year Published: 2023
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!