Port-controlled Hamiltonian based control of snake robots

Authors

Ryo Ariizumi, Yasuhiro Imagawa, Toru Asai, Shun-ichi Azuma

Abstract

This paper proposes a novel control method for path-following of joints of a snake robot. The proposed method applies the port-controlled Hamiltonian based approach, which has originally been proposed for a full-actuated friction-less system. This paper extends the controller for an under-actuated system with friction. It is proven that, by the proposed controller, the path-following of the joints is achieved. The validity of the controller is checked through simulations. Furthermore, simulation results suggest that the controller is robust to modeling errors.

Keywords

Path-following; Port-controlled Hamiltonian; Snake robot; Robust control

Citation

• Journal: Artificial Life and Robotics
• Year: 2022
• Volume: 27
• Issue: 2
• Pages: 255–263
• Publisher: Springer Science and Business Media LLC
• DOI: 10.1007/s10015-022-00741-2

BibTeX

@article{Ariizumi_2022,
  title={{Port-controlled Hamiltonian based control of snake robots}},
  volume={27},
  ISSN={1614-7456},
  DOI={10.1007/s10015-022-00741-2},
  number={2},
  journal={Artificial Life and Robotics},
  publisher={Springer Science and Business Media LLC},
  author={Ariizumi, Ryo and Imagawa, Yasuhiro and Asai, Toru and Azuma, Shun-ichi},
  year={2022},
  pages={255--263}
}

Download the bib file

References

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