Bio-Inspired Models of Network, Information, and Computing Systems. 5th International ICST Conference, BIONETICS 2010, Boston, USA, December 1-3, 2010, Revised Selected Papers

Research Article

Control of Snake Type Biomimetic Structure

Download
524 downloads
  • @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
Mircea Ivanescu1,*, Nicu Bizdoaca1,*, Hani Hamdan2,*, Mario Eltabach3,*, Mihaela Florescu1,*
  • 1: University of Craiova
  • 2: SUPELEC
  • 3: VALORTIM-CETIM
*Contact email: ivanescu@robotics.ucv.ro, nicu@robotics.ucv.ro, Hani.Hamdan@supelec.fr, Mario.Eltabach@cetim.fr, florescu@robotics.ucv.ro

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.