1. Control of Snake Type Biomimetic Structure
- Author
-
Mircea Ivanescu, Hani Hamdan, Nicu George Bizdoaca, Mihaela Florescu, Mario Eltabach, Departement Computers and Electronics, University of Craiova, Supélec Sciences des Systèmes (E3S), Ecole Supérieure d'Electricité - SUPELEC (FRANCE), noise and vibration departement, valortim-cetim, and Junichi Suzuki and Tadashi Nakano
- Subjects
0303 health sciences ,0209 industrial biotechnology ,Lemma (mathematics) ,Computer science ,business.industry ,Stability criterion ,02 engineering and technology ,Function (mathematics) ,Action (physics) ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,[SPI.TRON]Engineering Sciences [physics]/Electronics ,03 medical and health sciences ,020901 industrial engineering & automation ,[INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing ,Control theory ,Robot ,Artificial intelligence ,Biomimetics ,Element (category theory) ,business ,Actuator ,[SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing ,030304 developmental biology - Abstract
978-3-642-32614-1; 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.
- Published
- 2012