Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators

doi:10.1109/JAS.2020.1003144

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators
	Dong Zhang; Hao Yuan; Zhengcai Cao
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:3 页码:745-751
摘要	This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magneto-rheological fluid (MRF) around actuators. In order to improve the robot’s physical stability in complex environments, this work proposes an adaptive stiffness control strategy. This strategy is also useful for the robot to avoid disturbing caused by emergency situations such as collisions. In addition, to obtain optimal stiffness and reduce energy consumption, both torques of actuators and stiffness of the MRF braker are considered and optimized by using an evolutionary optimization algorithm. Simulations and experiments are conducted to verify the proposed adaptive stiffness control and optimization methods for a variable stiffness snake-like robots.
关键词	Adaptive control snake-like robot variable stiffness
DOI	10.1109/JAS.2020.1003144
引用统计	被引频次：32[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/173211/42985
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Dong Zhang,Hao Yuan,Zhengcai Cao. Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):745-751.
APA	Dong Zhang,Hao Yuan,&Zhengcai Cao.(2020).Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators.IEEE/CAA Journal of Automatica Sinica,7(3),745-751.
MLA	Dong Zhang,et al."Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators".IEEE/CAA Journal of Automatica Sinica 7.3(2020):745-751.

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