Improved Jacobian matrix estimation applied to snake robots

Two manipulator Jacobian matrix estimators for constrained planar snake robots are developed and tested, which enables the implementation of Jacobian-based obstacle-aided locomotion (OAL) control schemes. These schemes use obstacles in the robot’s vicinity to obtain propulsion. The devised estimator...

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Detalles Bibliográficos
Autores principales: Løwer, Jostein, Varagnolo, Damiano, Stavdahl, Øyvind
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10248462/
https://www.ncbi.nlm.nih.gov/pubmed/37305525
http://dx.doi.org/10.3389/frobt.2023.1190349

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10248462/
https://www.ncbi.nlm.nih.gov/pubmed/37305525
http://dx.doi.org/10.3389/frobt.2023.1190349

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