PROJECT TITLE :
Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints
This paper investigates the problem of maneuvering control for planar snake robots. The management objective is to make the middle of mass of the snake robot converge to a desired path and traverse the path with a desired velocity. The proposed feedback management strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by the states of dynamic compensators used to control the orientation and forward speed of the snake robot.
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