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.


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    Title :

    Control Of A Serpentine Robot For Inspection Tasks


    Contributors:

    Published in:

    Publication date :

    1996-03-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


    Control of a Serpentine Robot for Inspection Tasks

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