Research Article
Control of Snake Type Biomimetic Structure
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@INPROCEEDINGS{10.1007/978-3-642-32615-8_54, author={Mircea Ivanescu and Nicu Bizdoaca and Hani Hamdan and Mario Eltabach and Mihaela Florescu}, title={Control of Snake Type Biomimetic Structure}, proceedings={Bio-Inspired Models of Network, Information, and Computing Systems. 5th International ICST Conference, BIONETICS 2010, Boston, USA, December 1-3, 2010, Revised Selected Papers}, proceedings_a={BIONETICS}, year={2012}, month={10}, keywords={biomimetics control robot snake-type robot}, doi={10.1007/978-3-642-32615-8_54} }- Mircea Ivanescu
Nicu Bizdoaca
Hani Hamdan
Mario Eltabach
Mihaela Florescu
Year: 2012
Control of Snake Type Biomimetic Structure
BIONETICS
Springer
DOI: 10.1007/978-3-642-32615-8_54
Abstract
Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman – Yakubovich – Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and contact operations, for the position control, is studied. An extension of the Popov criterion is developed. The P control algorithms based on SMA snake-type robot actuators are introduced. Numerical simulations and experimental results of the snake type robot motion toward an imposed target are presented.
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