Frictional compliance model development and experiments for snake robot climbing

Amir Shapiro, Aaron Greenfield, Howie Choset

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

24 Scopus citations

Abstract

Intelligently utilizing the frictional contact between a robot and its environment can prevent slip, maintain balance, and provide stability during a robot's motion. A contact model is first needed to enable robot control achieving these goals. The model should be both accurate and simple enough to allow further system analysis. In this paper we propose a simple parametric contact model, based on the form of the Hertz-Walton model. We experimentally demonstrate that this contact model can be effectively used to predict contact forces for linear and near-linear loading paths. Finally, we briefly discuss the applicability of the presented contact model for snake robot climbing. The control of the snake robot is based on stabilizing a sequence of set points.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages574-579
Number of pages6
DOIs
StatePublished - 27 Nov 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 10 Apr 200714 Apr 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period10/04/0714/04/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Frictional compliance model development and experiments for snake robot climbing'. Together they form a unique fingerprint.

Cite this