This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the robot is controlled by a central pattern generator (a system of coupled oscillators) that produces travelling waves of oscillations as limit cycle behavior. We present the design considerations behind the robot and its controller. Experiments are carried out to identify the types of travelling waves that optimize speed during lateral undulatory locomotion on ground. In particular, the optimal frequency, amplitude and wavelength are thus identified when the robot is crawling on a particular surface. (All rights reserved Elsevier).


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    AmphiBot I: an amphibious snake-like robot


    Contributors:

    Published in:

    Publication date :

    2005


    Size :

    13 Seiten, 38 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    AMPHIBIOUS SNAKE ROBOT

    TAN XIAOBO / SHI HONGYANG / LUEDTKE CHRISTIAN ROBERT | European Patent Office | 2023

    Free access

    Amphibious detection snake based on bionics

    WANG YINCHAO / YE CHANGLONG / XU SONG et al. | European Patent Office | 2023

    Free access

    Amphibious robot

    HU LINQIANG / LI WEI / GAN ZHONGXUE et al. | European Patent Office | 2020

    Free access

    Amphibious robot

    TANG QIRONG / ZHONG LOU / LIU CONGYING et al. | European Patent Office | 2021

    Free access

    Amphibious robot

    FAN JIZHUANG / PAN YITAO / TAN XIAOGE et al. | European Patent Office | 2023

    Free access