Dynamic Hybrid Position Force Control using Virtual Internal Model to realize a cutting task by a snake-like robot

A real snake has simple figure like a string, and has highly adaptability corresponding to the environments/tasks. A snake-like robot mimics such highly adaptability of the real snake, is expected as an adaptable robot corresponding to the environments/tasks. Many literatures have reported with respect to locomotion controls of the snake-like robot, but haven't reported studies for applications. However, enhancement of the applications is required in real scenes of which the snake-like robot is expected to work. This paper reports to design the force controller to realize the cutting task by the snake-like robot, as a leading example of the force control in the real scenes. Since the force control in the feed direction and the servo control in its normal direction are required in order to realize the cutting task, the Dynamic Hybrid Position/Force Control System is designed. The Virtual Internal Model based on the impedance model is utilized as the force control method. The Model Following Servo Control System utilizing the Virtual Internal Model based on the impedance model is designed, and the Dynamic Hybrid Position/Force Control System is realized. Effectiveness of the designed control system is verified through a numerical simulation.