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.<>


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    Title :

    A 'sidewinding' locomotion gait for hyper-redundant robots


    Contributors:


    Publication date :

    1993-01-01


    Size :

    566640 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English