TY - GEN
T1 - Immobilization based control of spider robots in tunnels environment
AU - Shapiro, Amir
AU - Rimon, Elon
AU - Shoval, Shraga
N1 - Publisher Copyright:
© 2000 IEEE.
PY - 2000
Y1 - 2000
N2 - 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 an immobile spider mechanism is stabilized by the naturally occurring compliance at the contacts. Based on this result, we present a position control law for general Mimbed 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. 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 our initial experiments with this spider.
AB - 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 an immobile spider mechanism is stabilized by the naturally occurring compliance at the contacts. Based on this result, we present a position control law for general Mimbed 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. 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 our initial experiments with this spider.
UR - http://www.scopus.com/inward/record.url?scp=77952641185&partnerID=8YFLogxK
U2 - 10.1109/EEEI.2000.924347
DO - 10.1109/EEEI.2000.924347
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AN - SCOPUS:77952641185
T3 - 21st IEEE Convention of the Electrical and Electronic Engineers in Israel, Proceedings
SP - 149
EP - 153
BT - 21st IEEE Convention of the Electrical and Electronic Engineers in Israel, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st IEEE Convention of the Electrical and Electronic Engineers in Israel, IEEEI 2000
Y2 - 11 April 2000 through 12 April 2000
ER -