Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots
Journal article, Peer reviewed
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Original versionIEEE International Conference on Intelligent Robots and Systems. Proceedings 2014 10.1109/IROS.2014.6942579
Snake robots are biomimetic robots highly suited for traversing challenging terrain where traditional robots have difficulty moving. A key aspect is obstacle-aided locomotion, where the snake pushes against the environment to achieve the desired propulsion. The main focus of this work is to optimally determine how to use the motor torque inputs that result in obstacle forces suitable to achieve some user-defined desired path for the snake. To this end, we present a new dynamical snake model, an explicit algebraic relationship between input and obstacle forces, and formulate an optimization problem that seeks to minimize energy consumption while achieving propulsion along the desired path.
This is the author’s final, accepted and refereed manuscript to the article.