動力学に基づく蛇型ロボットの軌道追従制御

抄録

In this paper, we derive a trajectory tracking control law for snake robots with passive wheels and active joints. We remove wheels of some links, and propose a control law based on dynamic manipulability to avoid the singular configuration. The robot can accomplish trajectory tracking of the head position without converging to the singular configuration. Simulation results show the effectiveness of the proposed control law.