TY - GEN
T1 - Frictional compliance model development and experiments for snake robot climbing
AU - Shapiro, Amir
AU - Greenfield, Aaron
AU - Choset, Howie
PY - 2007/11/27
Y1 - 2007/11/27
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=36348957912&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363048
DO - 10.1109/ROBOT.2007.363048
M3 - Conference contribution
AN - SCOPUS:36348957912
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 574
EP - 579
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -