Using a planar snake robot as a robotic arm taking into account the lack of a fixed base: Feasible region
Fabian Reyes, Wenbin Tang, Shugen Ma
Abstract
Snake robots are highly redundant robots that could potentially be used as robotic arms, allowing them to interact with the environment. However they do not have a fixed base, making them difficult to control accurately. In this paper, a complete modeling approach and an optimization algorithm are presented that show the torques that allow a snake robot to track a trajectory while keeping one of its links from slipping. To do this, it is essential to consider the static friction between the ground and a snake robot. The forces of static friction are modeled as bounded constraints, in a similar fashion as the constraint forces studied in grasping with robotic hands. Simulations are carried out to analyze the problem.
BibTeX
@inproceedings{iros2015_usingaplanarsnak,
title = {Using a planar snake robot as a robotic arm taking into account the lack of a fixed base: Feasible region},
author = {Fabian Reyes and Wenbin Tang and Shugen Ma},
booktitle = {IROS 2015},
year = {2015}
}