Experimental studies of serpentine motion control of snake robots at inclined planes

The modelling and control problem for the serpentine motion of a planar snake-robot moving at inclined planes is the subject of this article. The effects of the gravity-induced terms, compared to the tangential and normal friction forces, compared to the snake's dynamics is presented. During th...

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Bibliographic Details
Published in2016 24th Mediterranean Conference on Control and Automation (MED) pp. 737 - 742
Main Authors Varesis, Orestis, Diamantopoulos, Charalambos, Tzes, Anthony
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2016
Subjects
Dynamics
Friction
Mathematical model
Partial discharges
Prototypes
Robots
Trajectory
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Summary:The modelling and control problem for the serpentine motion of a planar snake-robot moving at inclined planes is the subject of this article. The effects of the gravity-induced terms, compared to the tangential and normal friction forces, compared to the snake's dynamics is presented. During the snake's controlled motion using a trajectory characterized by its curvature and heading, these terms have a detrimental effect on the system's stability. Experimental studies with a prototype eight DoF planar snake are offered to investigate this issue.
DOI:10.1109/MED.2016.7535879