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A serpentine robot based on 3 DOF coupled-driven joint
Ma SG(马书根); Lan, Guangping; Tanabe, Yuki; Sasaki, Ryo; Inoue, Kousuke
作者部门机器人学研究室
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
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
会议录名称IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地NEW YORK
2004
页码70-75
收录类别EI ; CPCI(ISTP)
EI收录号2005499531896
WOS记录号WOS:000234343000013
产权排序1
ISBN号0-7803-8641-8
摘要This paper presents a novel joint design for serpentine robot. It has three degrees of freedom and can make the serpentine robot move in extremely difficult environments, such as the rubble of a collapsed structure in earthquake. The leading feature of this serpentine robot is that the novel designed joints based on coupled-driven mechanism was employed, providing more powerful torque under the same condition, and therefore allowing the serpentine robot to perform all kinds of locomotion effectively in three dimensional space. Moreover, the coupled-driven mechanism and the rear-actuator performing roll action make the serpentine robot perform multiplex complex locomotion, which improve its flexibility and capability of traversing rugged terrain.
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/173321/20007
专题机器人学研究室
通讯作者Ma SG(马书根)
作者单位1.Dept. of Systems Engineering, Faculty of Eng., Ibaraki University, 4-12-1 Nakanarusawa-Cho, Hitachi, Ibaraki 316-0034, Japan
2.Robotics Laboratory, CAS, Shenyang Institute of Automation, 114 Nanta Street, Shenyang 110015, China
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GB/T 7714
Ma SG,Lan, Guangping,Tanabe, Yuki,et al. A serpentine robot based on 3 DOF coupled-driven joint[C]//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. NEW YORK:IEEE,2004:70-75.
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