Winding and Task Control of Snake Like Robot by Considering Constraint Force

Abstract

A snake-like robot is a typical example of robots with redundant degree of freedom. Using input-output linearization for only movement of the head of a robot, we can control the head speed as a desired one, but eventually the robot will come to a singular posture like a straight line. In this paper, we propose a control technique in which a physical index of horizontal constraint force is used explicitly. It is shown that the winding pattern with which the robot can avoid the singular posture is generated automatically and the constraint force is redeuced. Some disussion on a inclusion of a spring effect at each joint is also included.