抄録
This paper proposes a controller for the jumping motion of the 3-dimensional snake robot which has passive wheels and active universal joints. We assume that the snake robot jumps from the initial posture which some forward links are lifted up. First, we derive a dynamic model of the robot with considering the contact force and the frictional force between the robot and the flat surface. Next, we propose a controller which the snake robot jumps without slipping and the evaluation function to select the initial posture with consideration of the constraint force ellipse. Simulation and experimental results show the effectiveness of the proposed controller and the evaluation function.
