Control strategy for a snake-like robot based on constraint force and verification by experiment.
Kouki WatanabeMasami IwaseShoshiro HatakeyamaTakehiko MaruyamaPublished in: IROS (2008)
Keyphrases
- control strategy
- force control
- position control
- control scheme
- control algorithm
- control architecture
- control method
- robot manipulators
- control system
- control strategies
- mathematical model
- operating conditions
- optimal control
- control law
- speed control
- end effector
- fuzzy logic control
- fuzzy controller
- control loop
- sliding mode control
- closed loop
- pi controller
- robot motion
- active contours
- real time
- sliding mode
- predictive control
- pid controller
- active contour model
- biped robot
- fuzzy logic controller
- external force
- inverse kinematics
- visual servoing
- mobile robot
- evolutionary algorithm