Control Strategy for a Snake-Like Robot Based on Constraint Force and Verification by Experiment.
Kouki WatanabeMasami IwaseShoshiro HatakeyamaTakehiko MaruyamaPublished in: Adv. Robotics (2009)
Keyphrases
- control strategy
- force control
- position control
- control system
- control architecture
- robot manipulators
- mathematical model
- control scheme
- control method
- control law
- control algorithm
- control strategies
- operating conditions
- optimal control
- robot motion
- speed control
- active contours
- fuzzy logic control
- end effector
- control loop
- predictive control
- biped robot
- matlab simulink
- fuzzy controller
- force feedback
- nonlinear systems
- active contour model
- sliding mode control
- external force
- pi controller
- variable structure
- sliding mode
- mobile robot
- neural network
- visual servoing
- closed loop