{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/economic-model-predictive-control-for-snake","title":"Economic model predictive control for snake robot locomotion","arxiv_id":"1909.00795","date":"2020-05-22","proceeding":null,"authors":[],"abstract":"In this work, the control of snake robot locomotion via economic model\npredictive control (MPC) is studied. Only very few examples of applications of\nMPC to snake robots exist and rigorous proofs for recursive feasibility and\nconvergence are missing. We propose an economic MPC algorithm that maximizes\nthe robot's forward velocity and integrates the choice of the gait pattern into\nthe closed loop. We show recursive feasibility of the MPC optimization problem,\nwhere some of the developed techniques are also applicable for the analysis of\na more general class of system. Besides, we provide performance results and\nillustrate the achieved performance by numerical simulations. We thereby show\nthat the economic MPC algorithm outperforms a standard lateral undulation\ncontroller and achieves constraint satisfaction. Surprisingly, a gait pattern\ndifferent to lateral undulation results from the optimization.","url_abs":"http://arxiv.org/abs/1909.00795v2","url_pdf":"http://arxiv.org/pdf/1909.00795v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"economic-model-predictive-control-for-snake","repo_url":"https://github.com/gitAugust/EMPC-Control-of-Snake-Robot","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"model-predictive-control","task_name":"Model Predictive Control"},{"task_slug":"model","task_name":"model"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}