PROJECT TITLE :

Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints

ABSTRACT:

This paper investigates the problem of maneuvering control for planar snake robots. The management objective is to make the middle of mass of the snake robot converge to a desired path and traverse the path with a desired velocity. The proposed feedback management strategy enforces virtual constraints encoding a lateral undulatory gait, parametrized by the states of dynamic compensators used to control the orientation and forward speed of the snake robot.