Immobilization based control of spider robots in tunnels environment

Amir Shapiro, Elon Rimon, Shraga Shoval

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

3 Scopus citations

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 an immobile spider mechanism is stabilized by the naturally occurring compliance at the contacts. Based on this result, we present a position control law for general Mimbed 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. Next 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 our initial experiments with this spider.

Original languageEnglish
Title of host publication21st IEEE Convention of the Electrical and Electronic Engineers in Israel, Proceedings
PublisherInstitute of Electrical and Electronics Engineers
Pages149-153
Number of pages5
ISBN (Electronic)0780358422, 9780780358423
DOIs
StatePublished - 1 Jan 2000
Externally publishedYes
Event21st IEEE Convention of the Electrical and Electronic Engineers in Israel, IEEEI 2000 - Tel-Aviv, Israel
Duration: 11 Apr 200012 Apr 2000

Publication series

Name21st IEEE Convention of the Electrical and Electronic Engineers in Israel, Proceedings

Conference

Conference21st IEEE Convention of the Electrical and Electronic Engineers in Israel, IEEEI 2000
Country/TerritoryIsrael
CityTel-Aviv
Period11/04/0012/04/00

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Immobilization based control of spider robots in tunnels environment'. Together they form a unique fingerprint.

Cite this