Skip to Main content Skip to Navigation
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.
Complete list of metadata
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




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⟩



Record views