Twist-related locomotion of a 3D snake-like robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Twist-related locomotion of a 3D snake-like robot
	Ye ZL(叶长龙); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2004
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
会议日期	August 22-26, 2004
会议地点	Shenyang, China
关键词	snake-like robot twist-related locomotion simplied function consposite locomotion
页码	589-594
中文摘要	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 he 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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone
会议录	IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-8641-8
WOS记录号	WOS:000234343000105
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8934]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ye ZL,Ma SG,Li B,et al. Twist-related locomotion of a 3D snake-like robot[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2004). Shenyang, China. August 22-26, 2004.