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Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller
Chen, Jian 1; Li, Guoyuan 1; Zhang, Jianwei 1; Yu, Junzhi 4
Source PublicationIEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
2015-10-01
Volume12Issue:4Pages:1492-1503
SubtypeArticle
AbstractThis paper presents a bio-inspired caterpillar-like climbing method. Natural caterpillars climb relatively slow, but their multisegmented body trunk strongly enhances climbing versatility and stability, which thus motivates us to design an imitative robot to study the caterpillar-like climbinglocomotion. Based on observations from natural caterpillars, we propose a three-stage climbing method to imitate the caterpillar-like straight line climbing on a planar wall. Due to the redundancy property of caterpillars' multisegmented body trunk, we formulate the caterpillar-like climbingproblem as an end-effector tracking problem using the redundant robotics terminology. A dual-mode optimal controller, which effectively resolves the end-effector tracking problem even when the robot configuration is ill-conditioned, is incorporated for realizing the caterpillar-like climbing locomotion. Both simulation and experiment results are presented to demonstrate the effectiveness of the proposed caterpillar-like climbing method. 
KeywordBio-inspired Locomotion Caterpillar-like Robot Climbing Robot
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TASE.2015.2453992
WOS KeywordREDUNDANT MANIPULATORS ; ELASTOMER ADHESIVES ; GAIT GENERATION ; MANDUCA-SEXTA ; ROBOT ; LOCOMOTION ; KINEMATICS ; OPTIMIZATION ; INSPECTION ; MECHANISM
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000362358500031
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/10039
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorChen, Jian
Affiliation1. Institute of Technical Aspects of Multimodal System, Department of Computer Science, University of Hamburg, Hamburg, Germany
2. Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu, China
3. Faculty of Maritime Technology and Operations, Aalesund University College, Aaelsund, Norway
4. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Chen, Jian ,Li, Guoyuan ,Zhang, Jianwei ,et al. Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2015,12(4):1492-1503.
APA Chen, Jian ,Li, Guoyuan ,Zhang, Jianwei ,&Yu, Junzhi .(2015).Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12(4),1492-1503.
MLA Chen, Jian ,et al."Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 12.4(2015):1492-1503.
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