Point-to-Point Feedback Control of a Trident Snake Robot

Abstract

This paper is concerned with point-to-point feedback control of a trident snake robot. The robot is proposed in our recent work as a new example of nonholonomic systems with two generators. In this paper, a new feedforward type periodic algorithm is proposed to achieve smooth and quantitative locomotion of the robot. Then, a periodic feedback control method is also given which drives the state of the robot to a desired one. The proposed methods are examined by numerical simulations and experiments.