Abstract
This paper introduces and describes a novel design methodology of the motion parameters for an undulatory locomotor: a trident steering walker based on a performance index: a propulsion transfer function. The undulatory locomotor transforms its periodic changes of shape into its movement, and it has a singular attitude in which it cannot perform such transformation. In order to prevent the locomotor from having the singular attitude, we propose to design the motion parameters based on the propulsion transfer function which is a metric of the attitude from the singular attitude. The propulsion transfer function is defined in kinematics although the motion of the locomotor should be evaluated in dynamics, so that we propose to measure the propulsion force of the locomotor in a dynamics simulator and to analyze the relationship between the propulsion transfer function defined in kinematics and the propulsion force measured in dynamics. We demonstrate that it is effective to design the motion parameters based on the propulsion transfer function.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chitta, S., Heger, F.W., Kumar, V.: Design and Gait Control of a Rollerblading Robot. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, pp. 3944–3949 (April 2004)
Chitta, S., Cheng, P., Frazzoli, E., Kumar, V.: RoboTrikke: A Novel Undulatory Locomotion System. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 1597–1602 (2005)
Hirose, S.: Biologically Inspired Robots (Snake-like Locomotors and Manipulators). Oxford University Press (1993)
Hirose, S., Takeuchi, H.: Study on Roller-Walk (Basic Characteristics and Its Control). In: Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, pp. 3265–3270 (April 1996)
Isidori, A.: Nonlinear Control Systems, 2nd edn. Springer (1989)
Krishnaprasad, P.S., Tsakiris, D.P.: Oscillations, SE(2)-Snakes and Motion Control: A Study of the Roller Racer. Dynamical Systems 16(4), 347–397 (2001)
Ostrowski, J.P., Burdick, J.W.: The Geometric Mechanics of Undulatory Robotic Locomotion. International Journal of Robotics Research 17(7), 683–701 (1998)
Yamaguchi, H.: Control of a New Type of Undulatory Wheeled Locomotor: a Trident Steering Walker Based on Chained Form. Journal of Robotics and Mechatronics 21(4), 541–553 (2009)
Yamaguchi, H.: A Path Following Feedback Control Law for a New Type of Undulatory Locomotor: a Trident Steering Walker. In: Proceedings of the 14th International Conference on Advanced Robotics (ICAR 2009), Munich, Germany (June 2009)
Yamaguchi, H., Morinaga, T., Kawakami, A.: A Path-following Feedback Control Law with a Variable Velocity for a Trident Steering Walker and its Experimental Verification. In: Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010), Bologna, Italy, pp. 1187–1192 (August 2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Yamaguchi, H., Takeda, T., Kawakami, A. (2013). Control of a Trident Steering Walker - Design of Motion Parameters Based on a Propulsion Transfer Function. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_65
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_65
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)