Stability and adaptability of passive creeping of a snake-like robot
Document Type
Conference Proceeding
Publication Date
12-1-2010
Abstract
The control of a snake-like robot is a challenging problem because of the complex dynamics and the unknown environment.We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. This paper lays emphasis on the stability and the adaptability of the method. First, the local orbital stability of the movement is explicated based on the maximal Lyapunov exponent and the recurrence plot. Second, the adaptability to the environment is analyzed, and an optimal adaptive law based on the energy proportion is put into use to perfect the method. The particular advantages of the passive creeping include the comprehensive concept, the explicit control, and the inherent adaptability. ©2010 IEEE.
Publication Source (Journal or Book title)
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
First Page
395
Last Page
400
Recommended Citation
Wang, Z., Ma, S., Li, B., & Wang, Y. (2010). Stability and adaptability of passive creeping of a snake-like robot. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 395-400. https://doi.org/10.1109/IROS.2010.5650667