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.


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    Title :

    Control of a snake robot in consideration of constraint force


    Contributors:
    Date, H. (author) / Sampei, M. (author) / Nakaura, S. (author)


    Publication date :

    2001-01-01


    Size :

    500688 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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