Analysis and Control of a Trident Snake-Like Mobile Robot

摘要

In this paper, we propose a new kind of mobile robot called trident snake-like robot, which consists of a center body and three links having a free wheel. Its controllability structure is classified as ‘first-order’, i.e., the first level of Lie brackets together input vector fields span the tangent space. For the robot, we investigate a control method to steer the robot to an arbitrary position and posture.