Experimental verification of transversal functions for trident snake robot

摘要

In the paper control problem of trident snake robot using transversal functions approach has been considered. First, control law based on concept of transversal periodic functions has been introduced. Next, some experiment has been conducted. For experimental part special testbed, including: robotic device - trident snake robot, control system and camera, has been prepared. Experiment has confirmed limited practical application of control based on transversal functions.