Motion Control of Snake Robot by Lead-Lag Compensator Designed with Frequency Domain Approach

The snakes can adopt manifold gaits and its motion has the characteristics of catholicity, ground adaptability, scalability, stability and high efficiency. This motivates the designing of multi-link wheeled snake robot using the principal of differential friction and Active Cord Mechanism (ACM) to produce serpentine movement. This paper focuses on the designing of the motor controller using frequency domain approach with cascaded phase shifter to be present in each segment of multi-segment snake robot to produce serpentine motion with an aid to avoid the obstacles in its path. The controller concentrates on controlling the steady state errors and transient response of the actuators. KeywordsACM, snake robot, graphical domain approach, lag-lead compensator.