Parameterized Controller Generation for Multiple Mode Behavior
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3655 - 3660, September, 2014
Abstract
We derive and demonstrate a new capability for snake robots in which two behaviors-one for locomotion and the other for manipulation-are executed simultaneously on the same robot. This is done in two steps: 1) inverse kinematics via numerical optimization and 2) gait-based locomotion via modal decomposition. The result is an analytical representation of a multiple mode behavior that reduces online execution to simple parameterized control. This representation makes it possible to derive a feedback control law that enables reliable visual servoing using a snake robot while climbing a pole.
BibTeX
@conference{Gong-2014-107824,author = {Chaohui Gong and Matthew Travers and Hsien-Tang Kao and Howie Choset},
title = {Parameterized Controller Generation for Multiple Mode Behavior},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2014},
month = {September},
pages = {3655 - 3660},
}
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