The kinematics of a form of hyper-redundant mobile robot locomotion which is analogous to the sidewinding locomotion of desert snakes are considered. This form of locomotion can be generated by a repetitive traveling wave of mechanism bending. Using a continuous backbone curve model, algorithms are developed which enable travel in a uniform direction as well as changes in direction.<>
A 'sidewinding' locomotion gait for hyper-redundant robots
01.01.1993
566640 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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