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Proceedings Paper

Wave control: a method of distributed control for repeated unit tentacles
Author(s): Pavlo Rudakevych
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Paper 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.

Paper Details

Date Published: 26 August 1999
PDF: 9 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360339
Show Author Affiliations
Pavlo Rudakevych, IS Robotics Inc. (United States)

Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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