Sliding motion control of active flexible cable using simple shape information

Kazuna Sawata, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro, Koichi Osuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information.We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept.We developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. Further, we proposed a sliding motion control method that focus on the shape and length of the straight element. We applied the method to control the running direction. The experimental results and dynamic simulations demonstrated the effectivenessof sliding motion for controlling the running direction.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages3736-3742
Number of pages7
DOIs
Publication statusPublished - 2009 Nov 2
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 2009 May 122009 May 17

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period09/5/1209/5/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Sawata, K., Konyo, M., Saga, S., Tadokoro, S., & Osuka, K. (2009). Sliding motion control of active flexible cable using simple shape information. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 3736-3742). [5152833] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152833