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
1993-01-01
566640 byte
Conference paper
Electronic Resource
English
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