As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snake-like robot can move on rough ground and even climb up some obstacles. In this paper, the twist-related locomotion function is firstly solved, and simplified to be expressed by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist-related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Twist-related Locomotion of a 3D Snake-like Robot


    Beteiligte:
    Changlong Ye, (Autor:in) / Shugen Ma, (Autor:in) / Bin Li, (Autor:in) / Yuechao Wang, (Autor:in)


    Erscheinungsdatum :

    01.01.2004


    Format / Umfang :

    332365 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Environment-Adaptable Locomotion of a Snake-Like Robot

    Bin Li, / Shugen Ma, / Yuechao Wang, et al. | IEEE | 2004




    Adaptive Snake Robot Locomotion in Different Environments

    Baysal, Yesim A. / Altas, Ismail H. | IEEE | 2020


    Future Research Challenges of Snake Robot Locomotion

    Liljebäck, Pål / Pettersen, Kristin Y. / Stavdahl, Øyvind et al. | Springer Verlag | 2013