Environmental Adaptive Control of a Snake-like Robot With Variable Stiffness Actuators

• 作 者: Dong Zhang Hao Yuan Zhengcai C
• 机 构: IEEE,CollegeofInformationScienceandTechnology
• 出 处: 自动化学报:英文版
• 发表日期: 2020年3期
• 关键词: ADAPTIVE control snake-like ROBOT VARIABLE STIFFNESS
• 基金项目: supported by the National Natural Science Foundation of China(51575034),Beijing Leading Talents Program(Z191100006119031),Beijing Municipal Natural Science Foundation(3202022),National Key Research an

This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magnetorheological fluid(MRF) around actuators. In order to improve the robo