Control of Snake Type Biomimetic Structure

M. Ivanescu 1 N. Bizdoaca 1 Hani Hamdan 2 M. Eltabach 3 M. Florescu 1
1 Departement Computers and Electronics
2 E3S - Supélec Sciences des Systèmes [Gif-sur-Yvette]
3 noise and vibration departement
Abstract : Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman - Yakubovich - Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and contact operations, for the position control, is studied. An extension of the Popov criterion is developed. The P control algorithms based on SMA snake-type robot actuators are introduced. Numerical simulations and experimental results of the snake type robot motion toward an imposed target are presented.
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https://hal-supelec.archives-ouvertes.fr/hal-00776151
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Submitted on : Wednesday, January 16, 2013 - 9:34:35 AM
Last modification on : Thursday, March 29, 2018 - 11:06:05 AM

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M. Ivanescu, N. Bizdoaca, Hani Hamdan, M. Eltabach, M. Florescu. Control of Snake Type Biomimetic Structure. Junichi Suzuki and Tadashi Nakano. Bio-Inspired Models of Network, Information, and Computing Systems, Springer-Verlag, pp.554-562, 2012, Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering. Volume 87, ⟨10.1007/978-3-642-32615-8_54⟩. ⟨hal-00776151⟩

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