Skip to main content
SpringerLink
Log in

Head trajectory tracking control of an extendable snake-like robot

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

In recent years, extendable snake-like robots are attracting researchers’ interest. A large number of degrees of freedom make it possible for the robots to perform new gaits. It is expected that the telescopic motion can also give the robots higher adaptability for the environment. In this paper, we propose a controller of an extendable snake-like robot for head trajectory tracking and show the effectiveness of the extendable snake-like robot by comparison to an ordinary snake-like robot.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13

Similar content being viewed by others

References

  1. Hirose S (1993) Biologically inspired robots snake-like locomotors and manipulators. Oxford University Press, Oxford, pp 31–99

    Google Scholar 

  2. Kamegawa T, Harada T, Gofuku A (2009) Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels. In: 2009 IEEE International Conference on Robotics and Automation, 3067/3072

  3. Ariizumi R, Takahashi R, Tanaka M, Asai T (2019) Head trajectory tracking control of a snake robot and its robustness under actuator failure. IEEE Trans Control Syst Technol 27:2589–2597

    Article  Google Scholar 

  4. Hirose S (2010) Machine design of mobile snake-like robots. J Robot Soc Jpn 28:151–155

    Article  Google Scholar 

  5. Wang K, Gao W, Ma S (2017) Snake-like robot with fusion gait for high environmental adaptability: design. Model Exp Appl Sci 7:1133

    Google Scholar 

  6. Tanaka M, Nakajima M, Ariizumi R, Tanaka K (2020) Three-dimensional steering for an articulated mobile robot with prismatic joints with consideration of hardware limitations. Adv Robot. https://doi.org/10.1080/01691864.2020.1753568

    Article  Google Scholar 

  7. Sato H, Tanaka M, Matsuno F (2006) Trajectory tracking control of snake robots based on dynamic model. Trans Soc Instrum Control Eng 42:651–658

    Article  Google Scholar 

  8. Liljebäck P, Pettersen KY, Stavdahl Ø, Gravdahl JT (2011) Controllability and stability analysis of planar snake robot locomotion. IEEE Trans Autom Control 56:1365–1380

    Article  MathSciNet  Google Scholar 

  9. Harada K, Ariizumi R, Tanaka M, Asai T, Azuma S (2020) Head trajectory tracking control of a snake-like robot with linear actuators. In: The 7th Multi-symposium on Control Systems 2020, pp 1–7

  10. Ariizumi R, Tanaka M (2019) Manipulability analysis of a snake robot without a lateral constraint for head position control. Asian J Control. https://doi.org/10.1002/asjc.2118

    Article  Google Scholar 

  11. Matsuno F, Suenaga K (2003) Experimental study on control of redundant 3-d snake robot based on a kinematic model. In: Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, Kyoto

  12. Open Dynamics Engine (2021). https://www.ode.org/. Accessed 21 Dec 2021

Download references

Funding

This work was supported by JSPS KAKENHI under Grant JP18K04011 and Grant JP21H01285.

Author information

Authors and Affiliations

  1. Nagoya University, Huro-cho, Chikusa-ku, Nagoya, Aichi, 464-8603, Japan

    Koki Harada, Ryo Ariizumi, Toru Asai & Shun-ichi Azuma

  2. The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182-8585, Japan

    Motoyasu Tanaka

Authors
  1. Koki Harada
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ryo Ariizumi
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Motoyasu Tanaka
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Toru Asai
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Shun-ichi Azuma
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Koki Harada.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work was presented in part at the joint symposium with the 15th International Symposium on Distributed Autonomous Robotic Systems 2021 and the 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics 2021(Online, June1-4, 2021).

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Harada, K., Ariizumi, R., Tanaka, M. et al. Head trajectory tracking control of an extendable snake-like robot. Artif Life Robotics 27, 316–323 (2022). https://doi.org/10.1007/s10015-022-00750-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-022-00750-1

Keywords

Search

Navigation