Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller

doi:10.1109/TASE.2015.2453992

	Caterpillar-Like Climbing Method Incorporating a Dual-Mode Optimal Controller
	Chen, Jian 1; Li, Guoyuan 1; Zhang, Jianwei 1; Yu, Junzhi 4
发表期刊	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2015-10-01
卷号	12 期号:4 页码:1492-1503
文章类型	Article
摘要	This 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.
关键词	Bio-inspired Locomotion Caterpillar-like Robot Climbing Robot
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TASE.2015.2453992
关键词[WOS]	REDUNDANT MANIPULATORS ; ELASTOMER ADHESIVES ; GAIT GENERATION ; MANDUCA-SEXTA ; ROBOT ; LOCOMOTION ; KINEMATICS ; OPTIMIZATION ; INSPECTION ; MECHANISM
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000362358500031
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/10039
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Chen, Jian
作者单位	1. 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
推荐引用方式 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.