Wave control: a method of distributed control for repeated unit tentacles

Pavlo Rudakevych

doi:10.1117/12.360339

26 August 1999 Wave control: a method of distributed control for repeated unit tentacles

Pavlo Rudakevych

Proceedings Volume 3839, Sensor Fusion and Decentralized Control in Robotic Systems II; (1999) https://doi.org/10.1117/12.360339
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

A method is presented for distributed position control of the tip of a high degree of freedom tentacle. The scheme employs limited communications which occurs only between adjacent degrees of freedom and are distributed as identical processes at joint. An iterative approach to position control allows automatic path planning around obstacles to occur. The resulting system allows complex tasks to be performed with limited computation and sensing resources. The algorithm was used as a basis for locomotion for a mobile robot with four tentacles.

Citation Download Citation

Pavlo Rudakevych "Wave control: a method of distributed control for repeated unit tentacles", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); https://doi.org/10.1117/12.360339

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