Sliding motion control of active flexible cable using simple shape information

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

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Robotics and Automation, ICRA '09
ページ3736-3742
ページ数7
DOI
出版ステータスPublished - 2009 11 2
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
継続期間: 2009 5 122009 5 17

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)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

フィンガープリント 「Sliding motion control of active flexible cable using simple shape information」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル