| Presentation | 2008-11-06 Analysis of Oscillatory Locomotion for the Multi-Linked Trident Snake Robot Masato ISHIKAWA, Takahiro FUJINO, Toshiharu SUGIE, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This paper is concerned with analysis of oscillatory locomotion for the multi-linked trident snake robot. The robot is proposed in our recent works as a new example of nonholonomic systems with two generators. We show that there exist some stable cycles when the proposed periodic motion control is applied, and clarify the mechanism of this oscillatory locomotion by analysis of holonomy generated by Lie brackets of input vector-fields. The validity of this analysis is examined by numerical simulations. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | nonlinear system control / mobile robot / trident snake robot / nonholonomic system |
| Paper # | NLP2008-65 |
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| Conference Information | |
| Committee | NLP |
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| Conference Date | 2008/10/30(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Nonlinear Problems (NLP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Analysis of Oscillatory Locomotion for the Multi-Linked Trident Snake Robot |
| Sub Title (in English) | |
| Keyword(1) | nonlinear system control |
| Keyword(2) | mobile robot |
| Keyword(3) | trident snake robot |
| Keyword(4) | nonholonomic system |
| 1st Author's Name | Masato ISHIKAWA |
| 1st Author's Affiliation | Dept. of Systems Science, Graduate School of Informatics, Kyoto University() |
| 2nd Author's Name | Takahiro FUJINO |
| 2nd Author's Affiliation | Dept. of Systems Science, Graduate School of Informatics, Kyoto University |
| 3rd Author's Name | Toshiharu SUGIE |
| 3rd Author's Affiliation | Dept. of Systems Science, Graduate School of Informatics, Kyoto University |
| Date | 2008-11-06 |
| Paper # | NLP2008-65 |
| Volume (vol) | vol.108 |
| Number (no) | 276 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |