Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods
	Wang ZF(王智锋); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2009
会议名称	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议日期	October 10-15, 2009
会议地点	St. Louis, MO, USA
页码	3631-3636
通讯作者	王智锋
中文摘要	A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot. The dynamics of the robot are established in a Riemannian manifold. Furthermore, the dynamics of manipulation can be directly degenerated from those of locomotion. This method unifies the dynamics of locomotion and manipulation of the snake-like robot in the differential geometry formulation. Finally, simulation results of the method are presented.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE
会议录	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-3803-7
WOS记录号	WOS:000285372901276
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8682]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wang ZF,Ma SG,Li B,et al. Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods[C]. 见:2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). St. Louis, MO, USA. October 10-15, 2009.