| IEICE Technical Committee Submission System Conference Paper's Information |
Online Proceedings [Sign in] Tech. Rep. Archives |
| Go Top Page | Go Previous | [Japanese] / [English] |
| Paper Abstract and Keywords | ||
| Presentation | 2008-11-06 14:55 Analysis of Oscillatory Locomotion for the Multi-Linked Trident Snake Robot Masato Ishikawa, Takahiro Fujino, Toshiharu Sugie (Kyoto Univ.)  NLP2008-65 |
|
| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | This paper is concerned with analysis of oscillatory locomotion for the multi-linked trident snake robot.The robot is proposed in our recent works as a new example of nonholonomic systems with two generators.We show that there exist some stable cycles when the proposed periodic motion control is applied, and clarify the mechanism of this oscillatory locomotion by analysis of \textit{holonomy} generated by Lie brackets of input vector-fields.The validity of this analysis is examined by numerical simulations. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | nonlinear system control / mobile robot / trident snake robot / nonholonomic system / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 108, no. 276, NLP2008-65, pp. 43-48, Nov. 2008. | |
| Paper # | NLP2008-65 | |
| Date of Issue | 2008-10-30 (NLP) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | NLP2008-65 |
|
| Conference Information | |
| Committee | NLP |
| Conference Date | 2008-11-06 - 2008-11-06 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | NLP |
| Conference Code | 2008-11-NLP |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Analysis of Oscillatory Locomotion for the Multi-Linked Trident Snake Robot |
| Sub Title (in English) | |
| Keyword(1) | nonlinear system control |
| Keyword(2) | mobile robot |
| Keyword(3) | trident snake robot |
| Keyword(4) | nonholonomic system |
| Keyword(5) | |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Masato Ishikawa |
| 1st Author's Affiliation | Kyoto University (Kyoto Univ.) |
| 2nd Author's Name | Takahiro Fujino |
| 2nd Author's Affiliation | Kyoto University (Kyoto Univ.) |
| 3rd Author's Name | Toshiharu Sugie |
| 3rd Author's Affiliation | Kyoto University (Kyoto Univ.) |
| 4th Author's Name | |
| 4th Author's Affiliation | () |
| 5th Author's Name | |
| 5th Author's Affiliation | () |
| 6th Author's Name | |
| 6th Author's Affiliation | () |
| 7th Author's Name | |
| 7th Author's Affiliation | () |
| 8th Author's Name | |
| 8th Author's Affiliation | () |
| 9th Author's Name | |
| 9th Author's Affiliation | () |
| 10th Author's Name | |
| 10th Author's Affiliation | () |
| 11th Author's Name | |
| 11th Author's Affiliation | () |
| 12th Author's Name | |
| 12th Author's Affiliation | () |
| 13th Author's Name | |
| 13th Author's Affiliation | () |
| 14th Author's Name | |
| 14th Author's Affiliation | () |
| 15th Author's Name | |
| 15th Author's Affiliation | () |
| 16th Author's Name | |
| 16th Author's Affiliation | () |
| 17th Author's Name | |
| 17th Author's Affiliation | () |
| 18th Author's Name | |
| 18th Author's Affiliation | () |
| Speaker | Author-2 |
| Date Time | 2008-11-06 14:55:00 |
| Presentation Time | 25 minutes |
| Registration for | NLP |
| Paper # | NLP2008-65 |
| Volume (vol) | vol.108 |
| Number (no) | no.276 |
| Page | pp.43-48 |
| #Pages | 6 |
| Date of Issue | 2008-10-30 (NLP) |
[Return to Top Page]