Control of a snake robot on uneven terrain
| Project/Area Number |
26870198
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Dynamics/Control
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
Tanaka Motoyasu 電気通信大学, 大学院情報理工学研究科, 助教 (50633442)
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | ヘビ型ロボット / 不整地踏破 / 障害物回避 / 階段昇降 / ハイブリッド / 拘束変化 / 不整地 / 冗長性 / 多連結ロボット / 索状ロボット / 階段 / 軌道追従 / 制御 / 特異姿勢 / 段差昇降 / 体形変化 / 拘束切換え / 軌道追従制御 / 軌道計画 |
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| Outline of Final Research Achievements |
In this study, to propose a control method moving on uneven terrain for a snake robot, we consider following four main topics. (1) Obstacle avoidance of whole body of a snake robot through a multiple obstacle environment. (2) Trajectory tracking on curved surface and multiple planes. (3) Terrain following method by using the robot's own weight on uneven terrain. (4) As application (1)-(3), cleaning control of an articulated cleaning robot on a narrow path and a step and stair climbing control of an articulated mobile robot.
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Report
(4 results)
Research Products
(26 results)
