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ECOLE SUPÉRIEURE D'ÉLECTRICITÉ Une grande école d'ingénieurs au cœur des sciences de l'information,de l'énergie et des systèmes |
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Book sections
Control of Snake Type Biomimetic Structure
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.
https://hal-supelec.archives-ouvertes.fr/hal-00776151
Contributor : Alexandra Siebert Connect in order to contact the contributor
Submitted on : Wednesday, January 16, 2013 - 9:34:35 AM
Last modification on : Monday, December 14, 2020 - 12:38:05 PM
Contributor : Alexandra Siebert Connect in order to contact the contributor
Submitted on : Wednesday, January 16, 2013 - 9:34:35 AM
Last modification on : Monday, December 14, 2020 - 12:38:05 PM