Immobilization based control of spider-like robots in tunnel environments

A. Shapiro, E. Rimon, S. Shoval

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations


This paper presents an immobilization-based control method for spider-like robots that move quasistatically in tunnel environments. The control method is based on an immobilization theory which 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 spider robots. We show that if the controller's stiffness (i.e. proportional gain) is above a lower limit determined by the spider and environment parameters, stability of the closed-loop spider system is guaranteed. 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 t his robot.

Original languageEnglish
Pages (from-to)3636-3642
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001


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