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Control of Snake Type Biomimetic Structure
- Source :
- Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering ISBN: 9783642326141, BIONETICS, Bio-Inspired Models of Network, Information, and Computing Systems, 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⟩
- Publication Year :
- 2012
- Publisher :
- Springer Berlin Heidelberg, 2012.
-
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.
- 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
Subjects
Details
- ISBN :
- 978-3-642-32614-1
- ISBNs :
- 9783642326141
- Database :
- OpenAIRE
- Journal :
- Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering ISBN: 9783642326141, BIONETICS, Bio-Inspired Models of Network, Information, and Computing Systems, 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⟩
- Accession number :
- edsair.doi.dedup.....f4bad1d2b223e931915f3f90027bcad5