Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods
Document Type
Conference Proceeding
Publication Date
12-11-2009
Abstract
A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot. The dynamics of the robot are established in a Riemannian manifold. Furthermore, the dynamics of manipulation can be directly degenerated from those of locomotion. This method unifies the dynamics of locomotion and manipulation of the snake-like robot in the differential geometry formulation. Finally, simulation results of the method are presented. © 2009 IEEE.
Publication Source (Journal or Book title)
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
First Page
3631
Last Page
3636
Recommended Citation
Wang, Z., Ma, S., Li, B., & Wang, Y. (2009). Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 3631-3636. https://doi.org/10.1109/IROS.2009.5354838