This paper is concerned with point-to-point control of a simple 3-link snake robot, which is a typical example of non-holonomic drift-free systems with complicated controllability structure. First, we give a mathematical model of the snake robot in the form of a system on a principal fibre bundle with the structure Lie group SE (2). Then we propose a set of piecewise-linear/sinusoidal periodic input, and an algorithm which determines its design parameters so that the net effect of the input is approximately equal to the desired displacement. Finally, we give an idea of improving this approximation by an online iterative tuning of the design parameters. Effectiveness of the proposed method is evaluated by numerical simulations.
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Masato Ishikawa (2009) studied this question.
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