横断関数法を用いた三叉ヘビロボットの動的フィードバック制御実験

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  • Experiment of Dynamic Feedback of the Trident Snake Robot with Transverse Function Approach
  • オウダン カンスウホウ オ モチイタ ミツマタ ヘビロボット ノ ドウテキ フィードバック セイギョ ジッケン

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In this paper, we deal with physical experiments of tracking control for the trident snake robot with the transverse function(TF) approach. The TF approach was originally proposed by Morin and Samson (2002) that is supposed to applicable to the systems evolving on Lie groups with left-invaliant control vector fields. The control objective is to practically stabilize any given reference trajectory in the space of planar rigid motions (SE(2)) while avoiding mechanical singularities. In the authors’ previous works, the tracking control of the trident snake robot with this approach was validated in terms of improvements of control smoothness and stability by several simulations. However, experimental verification is not conducted yet. In this paper, therefore, the usability of TF approach is examined by several experiments. <br>

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