著者

山北 昌毅 橋本 実 山田 毅

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.22, no.1, pp.61-67, 2004-01-15 (Released:2010-08-25)

参考文献数

6

被引用文献数

7 12

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A snake robot is a typical example of robots with redundant degree of freedom. Using input-output linearization for only movement of the head of a robot, we can control the head speed as a desired one, but eventually the robot will come to a singular posture like a straight line. In order to overcome the problem, a control with dynamic manipulability was proposed. In this paper, we propose a control technique in which a physical index of horizontal constraint force is used, and a control law for head configuration. By using these, the winding pattern with which the robot can avoid the singular posture is generated automatically and head converges to the target.