Modeling and Locomotion Control Using SDRE of Snake-like Robot Considering Side-slip

Abstract

 The purpose of this research is to design a locomotion controller for a snake robot with detecting and inhibiting side-slip. A state-space representation form of the snake robot is described to deal with side-slip without any model switching. A locomotion controller with an observer is designed based on State Dependent Riccati Equation strategy using the state-space form. As a result, the snake robot arrives at a target point inhibiting side-slip. The validity and effectiveness of the proposed method is verified through numerical simulation.