Locomotion Control of Snake-like Robot on Geometrically Smooth Surface

摘要

A locomotion control of a snake-like robot on geometrically smooth surface is developed. To design the motion control, a mathematical model of the snake-like robot is derived by Projection Method (PJ method). Utilizing PJ method leads not only the mathematical model but also the constraints applied to the robot. The constraints give important information on the smooth surface. State-Dependent Riccati Equation (SDRE) control strategy taking the constraints into account realizes locomotion on the smooth surface for the snake-like robot. The effectiveness of the proposed method is verified through numerical simulations in which the snake-like robot is twining around and climbing a column.