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Alternative TitleDevelopment of an Amphibious Snake-like Robot and Its Gaits on Ground and in Water
郁树梅; 王明辉; 马书根; 李斌; 王越超
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20122815233880
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61075103)
Keyword蛇形机器人 水陆两栖蛇形机器人 步态控制 蛇形曲线
Other AbstractTough environments such as swamps and shoals deserve a snake-like robot to have better adaptability to the environments.After deep investigation of the latest researches on amphibious snake-like robot,a new amphibious snake-like robot is developed.The robot is composed of 9 waterproofed modular universal units and has smooth motion ability on ground and in water.A simplified Serpenoid curve is used to generate the serpentine gait,which is the basic two-dimensional gait of snake-like robots.Combining the basic motions on two perpendicular planes,the horizontal plane and the vertical plane,diverse gaits can be got through a heuristic three-dimensional gait generation method,including the lateral serpentine gait,the S-shape rolling gait,and the helical rolling gait,among which the S-shape rolling gait on the ground and helical rolling gait in the water are newly found.The robot’s motion ability on the ground and in the water is also validated by experiments.The results of the gait performance analysis obtained must be useful for the position and posture control of the robot in amphibious environments. 更多
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Cited Times:14[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
郁树梅,王明辉,马书根,等. 水陆两栖蛇形机器人的研制及其陆地和水下步态[J]. 机械工程学报,2012,48(9):18-25.
APA 郁树梅,王明辉,马书根,李斌,&王越超.(2012).水陆两栖蛇形机器人的研制及其陆地和水下步态.机械工程学报,48(9),18-25.
MLA 郁树梅,et al."水陆两栖蛇形机器人的研制及其陆地和水下步态".机械工程学报 48.9(2012):18-25.
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