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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

Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure

http://hdl.handle.net/2237/00031528
http://hdl.handle.net/2237/00031528
3682c404-e7fa-4f6e-be73-e69070e8ddf9
名前 / ファイル ライセンス アクション
edited_finalVer.pdf edited_finalVer (1.9 MB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2020-02-19
タイトル
タイトル Head-Trajectory-Tracking Control of a Snake Robot and Its Robustness Under Actuator Failure
言語 en
著者 Ariizumi, Ryo

× Ariizumi, Ryo

WEKO 96193

en Ariizumi, Ryo

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Takahashi, Ryota

× Takahashi, Ryota

WEKO 96194

en Takahashi, Ryota

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Tanaka, Motoyasu

× Tanaka, Motoyasu

WEKO 96195

en Tanaka, Motoyasu

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Asai, Toru

× Asai, Toru

WEKO 96196

en Asai, Toru

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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 “© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”
抄録
内容記述 This brief considers the problem of trajectory tracking of a planar snake robot without a lateral constraint. The reference trajectory of the head position and the orientation of link 1 are given, and torque control is determined to reduce tracking errors. The performance of the controller was tested in a number of simulations. The robustness during actuator failure was also studied. We assumed that one of the actuators was broken and the corresponding joint became passive. Furthermore, as a more realistic situation, we considered an instance when some of the states were not readily accessible from the sensor readings and needed to be estimated by an observer. The extended Kalman filter was employed for this purpose, and the performance of the closed-loop system with the observer was also tested in simulations.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 IEEE
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
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1109/TCST.2018.2866964
ISSN(print)
収録物識別子タイプ PISSN
収録物識別子 1063-6536
書誌情報 en : IEEE Transactions on Control Systems Technology

巻 27, 号 6, p. 2589-2597, 発行日 2019-11
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