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ICRA
2007
IEEE

Frictional Compliance Model Development and Experiments for Snake Robot Climbing

10 years 7 months ago
Frictional Compliance Model Development and Experiments for Snake Robot Climbing
Abstract— Intelligently utilizing the frictional contact between a robot and its environment can prevent slip, maintain balance, and provide stability during a robot’s motion. A contact model is first needed to enable robot control achieving these goals. The model should be both accurate and simple enough to allow further system analysis. In this paper we propose a simple parametric contact model, based on the form of the Hertz-Walton model. We experimentally demonstrate that this contact model can be effectively used to predict contact forces for linear and near-linear loading paths. Finally, we briefly discuss the applicability of the presented contact model for snake robot climbing. The control of the snake robot is based on stabilizing a sequence of set points.
Amir Shapiro, Aaron Greenfield, Howie Choset
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Amir Shapiro, Aaron Greenfield, Howie Choset
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