Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism

• Published in: IEEE transactions on robotics Vol. 28; no. 3; pp. 541 - 554
• Main Authors: Fukushima, H., Satomura, S., Kawai, T., Tanaka, M., Kamegawa, T., Matsuno, F.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.06.2012; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Computer science; control theory; systems; Control system analysis; Control systems; Control theory. Systems; Controllers; Convergence; DC motors; Exact sciences and technology; Fasteners; Joints; Kinematics; Mobile robots; Modelling and identification; Path tracking; Robot kinematics; Robotics; Robots; screw-drive mechanism; search and rescue; snake-like robot; Wheels; Rescue; search and rescue; Moving robot; Position control; Lyapunov method; Rotation speed; Disaster; Fastener; Modeling; Robotics; screw-drive mechanism; Kinematics; Propulsion; System identification; Nut screw drive; Linear machine; Experimental study; Path tracking; Screw; snake-like robot; Omnidirectional mobility; Drive mechanism; Angular velocity; Asymptotic approximation; Motion control; omnidirectional vehicle; Reptation model; Lyapunov function
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2012.2183050

In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a kinematic model and apply it to trajectory tracking control. Furthermore, we design a front-unit-following controller, which is suitable for manual operations. In this control system, operators are required to command only one unit in the front; then, commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic convergence of the tracking error of the front-unit-following controller is analyzed based on a Lyapunov approach for the case of constant curvature. The effectiveness of the control method is demonstrated by numerical examples and experiments.