Hyper-redundant Robot Control System in Compliant Motions

This aim of this paper is to present a hyper-redundant crawling robot movement. The authors present a new physical structure and a control algorithm for movement in narrow labyrinth spaces, by using walls touching. Collisions and contacts are part of the task. Support-points, where the robot touches the walls, are used for its movement. Subsequently, a hybrid force/position controller for hyper-redundant locomotion is presented. Ultimately, the paper presents simulations of locomotion, positioning hyper-redundant evolutions and force tracking errors. An HHR robot used for applying the algorithm is built of identical elements that are interconnected through swivel joints. The curvature of the robotic arm is created with a cable system, actuated by DC motors. The position control is established through a pneumatic system. Using actuation cables and an electro-pneumatic system for blocking the movement of desired elements, the position of the robotic arm is obtained.