In order to control a modular wheeled snake robot, there is a complexity of generating a control solution that has to satisfies non-holonomic constraints which depends on the robot configuration. For a pole climbing application, in which the modular snake robot is required to climb a cylindrical pole vertically, we proposed a control method for the modular snake. By generating the control input such that the pose of the robot follows a helical curve configuration, the control input is constrained to be within the null space of the non-holonomic constraint where the desired wheel velocity can be mapped directly to one-dimensional control input signal of the robot. The proposed controller was successfully implemented and tested in our modular pole climbing snake robot. © 2011 IEEE.
CITATION STYLE
Polchankajorn, P., & Maneewarn, T. (2011). Helical controller for modular snake robot with non-holonomic constraint. In ECTI-CON 2011 - 8th Electrical Engineering/ Electronics, Computer, Telecommunications and Information Technology (ECTI) Association of Thailand - Conference 2011 (pp. 589–592). https://doi.org/10.1109/ECTICON.2011.5947907
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