Immobilization-Based Control of Spider-Like Robots in Tunnel Environments

Author:

Shapiro Amir,Rimon Elon1,Shoval Shraga2

Affiliation:

1. Mechanical Engineering Department, Technion-Israel Institute of Technology, Haifa, Israel

2. Industrial Engineering Department, J & S College, Ariel, Israel

Abstract

This paper presents an immobilization-based control method for spider-like robots that move quasi-statically in tunnel environments. The control method is based on a recent immobilization theory of bodies in contact. This theory ensures that when a spider-like mechanism is bracing against the environment at an immobile posture, the naturally occurring compliance at the contacts stabilizes the mechanism as a single body. Based on this result, we present two versions of a position control law for general k-limbed robots. We show that if the controller’s stiffness (i.e., proportional gain) is above a lower limit determined by the robot and environment parameters, stability of the closed-loop spider system is guaranteed. Next, we present dynamic simulations of a spider robot moving in a tunnel under the influence of the immobilization-based control law. The simulations show excellent convergence properties of the control algorithm. A four-legged spider prototype has been built, and we conclude with a description of initial experiments with this prototype.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Reference14 articles.

1. Chirikjian, G. S., and Burdick, J. W. 1993. Design and experiments with a 30 degree-of-freedom hyper-redundant robot . IEEE Int. Conf. on Robotics and Automation, 3: 113–117 .

2. Hirose, S., and Kunieda, O. 1991. Generalized standard foot trajectory for a quadruped walking vehicle . Int. J. Robotics Res. 10(1): 2–13 .

3. Design and Control of a Mobile Robot with an Articulated Body

4. Impedance Control: An Approach to Manipulation: Part I—Theory

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