Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866916239480193024 |
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| author | Salagame, Adarsh Sihite, Eric Schirner, Gunar Ramezani, Alireza |
| author_facet | Salagame, Adarsh Sihite, Eric Schirner, Gunar Ramezani, Alireza |
| contents | Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces. Northeastern University's COBRA is a snake robot that can morph into a ring, which employs passive tumbling to traverse down slopes. However, due to its articulated joints, it is also capable of dynamically altering its posture to manipulate the dynamics of the tumbling locomotion for active steering. This paper presents a modelling and control strategy based on collocation optimization for real-time steering of COBRA's tumbling locomotion. We validate our approach using Matlab simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_05447 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control Salagame, Adarsh Sihite, Eric Schirner, Gunar Ramezani, Alireza Robotics Systems and Control Passive tumbling uses natural forces like gravity for efficient travel. But without an active means of control, passive tumblers must rely entirely on external forces. Northeastern University's COBRA is a snake robot that can morph into a ring, which employs passive tumbling to traverse down slopes. However, due to its articulated joints, it is also capable of dynamically altering its posture to manipulate the dynamics of the tumbling locomotion for active steering. This paper presents a modelling and control strategy based on collocation optimization for real-time steering of COBRA's tumbling locomotion. We validate our approach using Matlab simulations. |
| title | Dynamic Posture Manipulation During Tumbling for Closed-Loop Heading Angle Control |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2405.05447 |