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Title: Cascade design for CPG-based control system of planar snake robots
Authors: Dao, Minh Quan
Tran, Vu Cong Thanh
Vo, Quan Tuong
Keywords: Snake-like robot
Lateral undulation
Velocity control
Issue Date: 2018
Series/Report no.: Tạp chí Cơ khí Việt Nam;Số 8 .- Tr.67-72
Abstract: The maneuvering of snake-like robots rises many challenges because of the many degrees of freedom (DOFs) of this type of robot. A part from the rational control methods, we exploit the Central Pattern Generators (CPGs) to overcome those challenges in a cascade manner. To be specific, we sequentially create robot motion, steers that motion, and regulates the speed of that motion. In the process of achieving that we also propose a virtual system which can simplify the snake-like robots to a differential drive wheeled vehicle.
ISSN: 0866-7056
Appears in Collections:Cơ khí Việt Nam

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