This paper deals with an autonomous locomotion of a snakelike articulated robot with passive wheels. Using the non-slip condition of the wheels, the robot gains propulsion by means of constraint forces on the wheels caused by bending the joints. Our goal is to achieve the so-called serpentine movement known to be an effective gait on a flat ground with automatic gait generation, i.e., without giving any winding gait beforehand. We utilize a notion of manipulability to evaluate the locomotability and propose a controller capable of reducing the constraint forces. The results of simulations show that smooth winding motion is achieved.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Control of a snake robot in consideration of constraint force


    Beteiligte:
    Date, H. (Autor:in) / Sampei, M. (Autor:in) / Nakaura, S. (Autor:in)


    Erscheinungsdatum :

    2001-01-01


    Format / Umfang :

    500688 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Snake-shaped robot

    YANG YICHAO / JIANG JIANSHENG / ZHANG ZHENYU et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    AMPHIBIOUS SNAKE ROBOT

    TAN XIAOBO / SHI HONGYANG / LUEDTKE CHRISTIAN ROBERT | Europäisches Patentamt | 2023

    Freier Zugriff

    Bionic snake-shaped robot

    WANG NING / WU SHENGGAO | Europäisches Patentamt | 2015

    Freier Zugriff

    Snake Robot Free Climbing

    Nilsson, M. | British Library Online Contents | 1998


    Snake-like robot and cave detection method based on snake-like robot

    ZOU XIANJIAN / YANG CHUNHE / WANG TONGTAO et al. | Europäisches Patentamt | 2023

    Freier Zugriff