Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
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Experiment of Dynamic Feedback of the Trident Snake Robot with Transverse Function Approach
Takuto KitaMasato IshikawaKoichi Osuka
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2013 Volume 26 Issue 7 Pages 243-251

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Abstract

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.

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© 2013 The Institute of Systems, Control and Information Engineers
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