IEEE - Institute of Electrical and Electronics Engineers, Inc. - Shape-based compliant control with variable coordination centralization on a snake robot

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Julian Whitman ; Francesco Ruscelli ; Matthew Travers ; Howie Choset
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 5,165 - 5,170
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799059
Regular:

For highly articulated robots, there is a tradeoff between the capability to navigate complex unstructured environments and the high computational cost of coordinating many degrees-of-freedom. In... View More

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