Modeling and control of snake-like robot to move in the tube

M. Shell, M. Kasahara, T. Ynagida, M. Iwase
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Abstract

The purpose of this study is to realize driving of snake-like robot in a tube. The modeling of the snake-like robot in a tube is important for design the driving control. Hence the model is described by Projection Method. The driving control is derived by State Dependent Riccati Equation based on the model. Numerical simulations present the snake-like robot can drive in a tube as its head position is converged to the origin.
蛇形机器人在管道中移动的建模与控制
本研究的目的是实现蛇形机器人在管道中的驱动。管内蛇形机器人的建模对其驱动控制设计具有重要意义。因此,该模型采用投影法进行描述。在此基础上,利用状态相关Riccati方程推导了驱动控制。数值模拟结果表明,该蛇形机器人在头部位置收敛于原点的情况下可以在管内行驶。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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