Sliding motion control of active flexible cable using simple shape information

Kazuna Sawata; Masashi Konyo; Satoshi Saga; Satoshi Tadokoro; Koichi Osuka

doi:10.1109/ROBOT.2009.5152833

Sliding motion control of active flexible cable using simple shape information

Kazuna Sawata, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro, Koichi Osuka

INF - Applied Information Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information.We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept.We developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. Further, we proposed a sliding motion control method that focus on the shape and length of the straight element. We applied the method to control the running direction. The experimental results and dynamic simulations demonstrated the effectivenessof sliding motion for controlling the running direction.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	3736-3742
Number of pages	7
DOIs	https://doi.org/10.1109/ROBOT.2009.5152833
Publication status	Published - 2009
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 2009 May 12 → 2009 May 17

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	09/5/12 → 09/5/17

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10.1109/ROBOT.2009.5152833

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Sawata, K., Konyo, M., Saga, S., Tadokoro, S., & Osuka, K. (2009). Sliding motion control of active flexible cable using simple shape information. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 3736-3742). Article 5152833 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152833

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title = "Sliding motion control of active flexible cable using simple shape information",

abstract = "We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information.We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept.We developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. Further, we proposed a sliding motion control method that focus on the shape and length of the straight element. We applied the method to control the running direction. The experimental results and dynamic simulations demonstrated the effectivenessof sliding motion for controlling the running direction.",

author = "Kazuna Sawata and Masashi Konyo and Satoshi Saga and Satoshi Tadokoro and Koichi Osuka",

year = "2009",

doi = "10.1109/ROBOT.2009.5152833",

language = "English",

isbn = "9781424427895",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "3736--3742",

booktitle = "2009 IEEE International Conference on Robotics and Automation, ICRA '09",

note = "2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

}

Sawata, K, Konyo, M, Saga, S, Tadokoro, S & Osuka, K 2009, Sliding motion control of active flexible cable using simple shape information. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152833, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3736-3742, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 09/5/12. https://doi.org/10.1109/ROBOT.2009.5152833

Sliding motion control of active flexible cable using simple shape information. / Sawata, Kazuna; Konyo, Masashi; Saga, Satoshi et al.
2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 3736-3742 5152833 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Sliding motion control of active flexible cable using simple shape information

AU - Sawata, Kazuna

AU - Konyo, Masashi

AU - Saga, Satoshi

AU - Tadokoro, Satoshi

AU - Osuka, Koichi

PY - 2009

Y1 - 2009

N2 - We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information.We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept.We developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. Further, we proposed a sliding motion control method that focus on the shape and length of the straight element. We applied the method to control the running direction. The experimental results and dynamic simulations demonstrated the effectivenessof sliding motion for controlling the running direction.

AB - We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information.We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept.We developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. Further, we proposed a sliding motion control method that focus on the shape and length of the straight element. We applied the method to control the running direction. The experimental results and dynamic simulations demonstrated the effectivenessof sliding motion for controlling the running direction.

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U2 - 10.1109/ROBOT.2009.5152833

DO - 10.1109/ROBOT.2009.5152833

M3 - Conference contribution

AN - SCOPUS:70350367536

SN - 9781424427895

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3736

EP - 3742

BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

Y2 - 12 May 2009 through 17 May 2009

ER -

Sliding motion control of active flexible cable using simple shape information

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