Abstract
Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman – Yakubovich – Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and contact operations, for the position control, is studied. An extension of the Popov criterion is developed. The P control algorithms based on SMA snake-type robot actuators are introduced. Numerical simulations and experimental results of the snake type robot motion toward an imposed target are presented.
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© 2012 ICST Institute for Computer Science, Social Informatics and Telecommunications Engineering
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Ivanescu, M., Bizdoaca, N., Hamdan, H., Eltabach, M., Florescu, M. (2012). Control of Snake Type Biomimetic Structure. In: Suzuki, J., Nakano, T. (eds) Bio-Inspired Models of Network, Information, and Computing Systems. BIONETICS 2010. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 87. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32615-8_54
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DOI: https://doi.org/10.1007/978-3-642-32615-8_54
Publisher Name: Springer, Berlin, Heidelberg
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