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Mechanism design and locomotion of a snake robot
Gao Q(高琴); Wang ZL(王哲龙); Shang H(尚红); Hu WJ(胡卫建); Jiang M(姜鸣)
作者部门机器人学研究室
会议名称12th International Conference on Intelligent Autonomous Systems, IAS 2012
会议日期June 26-29, 2012
会议地点Jeju Island, Korea, Republic of
会议录名称Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
出版者Springer Verlag
出版地Heidelberg, Germany
2012
页码731-738
收录类别EI ; CPCI(ISTP)
EI收录号20130515953034
WOS记录号WOS:000313768300068
产权排序2
ISSN号2194-5357
ISBN号978-3-642-33931-8
关键词Machine Design Serpentine
摘要As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. In the paper, a snake-like robot based on cylinder module is developed. The robot prototype consists of eleven modules that are connected by revolute joints. Each joint has two degrees of freedom and allows bending in two mutually orthogonal planes. The serpenoid curve is considered as the control law and control parameters of snake curve are chosen by simulation and adjusted after experiment. Experimental results of snake robot show that the gait based on serpentine curve is reasonable and controlled easily. © 2013 Springer-Verlag.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10506
专题机器人学研究室
作者单位1.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Technical Division, National Earthquake Response Support Service, Beijing, China
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Gao Q,Wang ZL,Shang H,et al. Mechanism design and locomotion of a snake robot[C]. Heidelberg, Germany:Springer Verlag,2012:731-738.
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