Virtual holonomic constraints (VHCs) framework is a recent control paradigm for systematic design of motion controllers for wheel-less biologically inspired snake robots. Despite recent developments for VHC-based control systems for ground and underwater robotic snakes, they employ only two families of propulsive virtual holonomic constraints, i.e., lateral undulatory and eel-like virtual constraints. In this paper we extend the family of propulsive virtual constraints that can be used with VHC-based controllers by presenting a VHC analysis and synthesis methodology for planar snake robots that are subject to ground friction forces. In particular, we present a nonlinear differential inequality that guarantees forward motion of planar snake robots under the influence of VHCs. Furthermore, we provide a family of hyperbolic partial differential equations that can be employed to generate propulsive virtual holonomic constraints for these biologically inspired robots. Simulations are presented to verify the proposed analysis/synthesis methodology.
- Dynamic Systems and Control Division
Design of Propulsive Virtual Holonomic Constraints for Planar Snake Robots
Mohammadi, A. "Design of Propulsive Virtual Holonomic Constraints for Planar Snake Robots." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T21A003. ASME. https://doi.org/10.1115/DSCC2017-5159
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