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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Manipulability analysis of a snake robot without lateral constraint for head position control

http://hdl.handle.net/2237/0002001392
http://hdl.handle.net/2237/0002001392
faba4ba3-34fc-40ec-938c-1073a2d1806f
名前 / ファイル ライセンス アクション
asjcdoc_edit.pdf asjcdoc_edit.pdf (685 KB)
Item type itemtype_ver1(1)
公開日 2021-09-08
タイトル
タイトル Manipulability analysis of a snake robot without lateral constraint for head position control
言語 en
著者 Ariizumi, Ryo

× Ariizumi, Ryo

en Ariizumi, Ryo

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Tanaka, Motoyasu

× Tanaka, Motoyasu

en Tanaka, Motoyasu

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 en
権利情報 "This is the peer reviewed version of the following article: [Ariizumi, R, Tanaka, M. Manipulability analysis of a snake robot without lateral constraint for head position control. Asian J Control. 2020; 22: 2282– 2300. https://doi.org/10.1002/asjc.2118], which has been published in final form at [https://doi.org/10.1002/asjc.2118]. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise making available the article or pages thereof by third parties from platforms, services and websites other than Wiley Online Library must be prohibited."
キーワード
主題Scheme Other
主題 Controllability
キーワード
主題Scheme Other
主題 Dynamical model
キーワード
主題Scheme Other
主題 Head trajectory tracking
キーワード
主題Scheme Other
主題 Hyper redundant manipulator
キーワード
主題Scheme Other
主題 Manipulability
キーワード
主題Scheme Other
主題 Snake robot
内容記述
内容記述 Two dynamic manipulability criteria of a snake robot with sideways slipping are proposed with the application to head trajectory tracking control in mind. The singular posture, which is crucial in head tracking control, is characterized by the manipulability and examined for families of typical robot shapes. Differences in the singular postures from those of the robot with lateral constraints, which have not been clear in previous studies, are clarified in the analysis. In addition to the examination of local properties using the concept of manipulability, we discuss the effect of isotropic friction as a global property. It is well known that, at least empirically, a snake robot needs anisotropy in friction to move by serpentine locomotion if there are no objects for it to push around. From the point of view of integrability, we show one of the necessary conditions for uncontrollability is satisfied if the friction is isotropic.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 Wiley
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
出版タイプ
出版タイプ AM
出版タイプResource http://purl.org/coar/version/c_ab4af688f83e57aa
関連情報
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1002/asjc.2118
収録物識別子
収録物識別子タイプ EISSN
収録物識別子 1561-8625
書誌情報 en : Asian Journal of Control

巻 22, 号 6, p. 2282-2300, 発行日 2020-11
ファイル公開日
日付 2021-11-01
日付タイプ Available
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