The NTUA snake: Design, planar kinematics, and motion planning

Kyriakopoulos, KJ; Migadis, G; Sarrigeorgidis, K

dc.contributor.author	Kyriakopoulos, KJ	en
dc.contributor.author	Migadis, G	en
dc.contributor.author	Sarrigeorgidis, K	en
dc.date.accessioned	2014-03-01T01:15:19Z
dc.date.available	2014-03-01T01:15:19Z
dc.date.issued	1999	en
dc.identifier.issn	0741-2223	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13434
dc.subject	Motion Planning	en
dc.subject.classification	Robotics	en
dc.subject.other	Constraint theory	en
dc.subject.other	Feedback	en
dc.subject.other	Industrial robots	en
dc.subject.other	Kinematics	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion planning	en
dc.subject.other	Robotics	en
dc.subject.other	System stability	en
dc.subject.other	Planar kinematics	en
dc.subject.other	Mobile robots	en
dc.title	The NTUA snake: Design, planar kinematics, and motion planning	en
heal.type	journalArticle	en
heal.identifier.primary	10.1002/(SICI)1097-4563(199901)16:1<37::AID-ROB4>3.0.CO;2-V	en
heal.identifier.secondary	http://dx.doi.org/10.1002/(SICI)1097-4563(199901)16:1<37::AID-ROB4>3.0.CO;2-V	en
heal.language	English	en
heal.publicationDate	1999	en
heal.abstract	A new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. We propose a multiarticulated snake-like mobile robot, with a body consisting of repeating modules, capable of both efficiently moving and reaching points inside complicated or unstructured areas, where human personnel cannot reach or work properly. An analysis of the basic design along with most of the component specifications is presented. This mechanical system is subject to nonholonomic constraints. The kinematic model for motion on-plane of the mobile robot is derived by taking into consideration these constraints. The nonholonomic motion planning is partially solved by converting the multiple-input system to a multiple-chain, single-generator chained form via state feedback and a coordinate transformation. Stabilization and trajectory tracking issues are also considered. We also consider the general case of the n-trailer (or n-module) robotic snake. Simulation results are provided for various test cases. (C) 1999 John Wiley & Sons, Inc.	en
heal.publisher	JOHN WILEY & SONS INC	en
heal.journalName	Journal of Robotic Systems	en
dc.identifier.doi	10.1002/(SICI)1097-4563(199901)16:1<37::AID-ROB4>3.0.CO;2-V	en
dc.identifier.isi	ISI:000077787400004	en
dc.identifier.volume	16	en
dc.identifier.issue	1	en
dc.identifier.spage	37	en
dc.identifier.epage	72	en