Efficient, robust kinematic control scheme developed to control serpentine robot designed to inspect complex structure. Takes full advantage of multiple redundant degrees of freedom of robot to provide considerable dexterity for maneuvering through workspace cluttered with stationary obstacles at initially unknown positions. Control scheme produces slithering motion.
Control Of A Serpentine Robot For Inspection Tasks
NASA Tech Briefs ; 20 , 3
1996-03-01
Sonstige
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Englisch
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