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RISS 인기검색어
- 검색키워드
- 저자 : Syunsuke Nansai (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
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Tracking Control of Snake-like Robot with Rotational Elastic Actuators
Syunsuke Nansai,Masami Iwase 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The long-term goal of this study is to realize a locomotion control for snake-like robots on various environments. Key points for robots to adapt to various environments are measurement of stress applied to robots, and to realize locomotion control utilizing the stress. The observation leads to utilize a spring because a spring twists by the applied stress and generates energy by being twisted. We suggest a rotational elastic actuator (REA) consisting of a motor and a spring, and have developed a snake-like robot installing this mechanism at each joint. However, an effective locomotion control of the snake-like robot with REAs has not realized yet. In this paper, a controller tracking a serpenoid curve formulated from snake’s kinematics is suggested based on a dynamic model with REAs. To realize such controller, the dynamic model of the snake-like robot with REAs is derived by the Projection Method. The derived dynamic model is linearized by an input-output linearization technique. A servo controller is also designed by utilizing the linearized system with its state space representation. A smooth locomotion of the snake-like robot with REAs tracking a serpenoid curve utilizing the designed servo controller is verified through numerical simulations.
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Development of Snake-like Robot with Rotational Elastic Actuators
Syunsuke Nansai,Yuta Suzuki,Masami Iwase,Masaki Izutsu,Shoshiro Hatakeyama 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The long-term goal of this study is to develop a snake-like robot which can move in the three-dimensional space. Jumping and climbing are examples of such motion. To realize the three-dimensional locomotion, the robot weight should be light, and the actuator power should be strong. The robot requires actuators with high-powered output and quick response, but such actuators tend to be heavy. To resolve the problem, the robot uses rotational elastic actuators which consist of a light and small motor and a spring used to store energy so as to realize instantaneous high power output and quick response. The joints of the robot need to have 2-DOF. To realize a 2-DOF joint, a universal joint is utilized as the joint mechanism. The entire body of the robot is designed to connect some modules consisting of the actuator, the joint and two links. The motion equations of the developed robot are derived by the Projection Method. The mechanism and the effectiveness of the developed robot are verified through numerical simulations.
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