Abstract
This paper presents an immobilization-based control method for spider-like robots that move quasistatically in tunnel environments. The control method is based on an immobilization theory which ensures that when a spider-like mechanism is bracing against the environment at an immobile posture, the naturally occurring compliance at the contacts stabilizes the mechanism as a single body. Based on this result, we present two versions of a position control law for general k-limbed spider robots. We show that if the controller's stiffness (i.e. proportional gain) is above a lower limit determined by the spider and environment parameters, stability of the closed-loop spider system is guaranteed. We present dynamic simulations of a spider robot moving in a tunnel under the influence of the immobilization-based control law. The simulations show excellent convergence properties of the control algorithm. A four-legged spider prototype has been built, and we conclude with a description of initial experiments with t his robot.
| Original language | English |
|---|---|
| Pages (from-to) | 3636-3642 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| State | Published - 1 Jan 2001 |
| Externally published | Yes |
| Event | 2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: 21 May 2001 → 26 May 2001 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering