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Autonomous collision-free behavior of a snake-like robot
Wu XD(吴小东); Ma SG(马书根)
作者部门机器人学研究室
会议名称2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期December 14-18, 2010
会议地点Tianjin, China
会议主办者IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录名称2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
出版者IEEE Computer Society
出版地Piscataway, NJ
2010
页码1490-1495
收录类别EI
EI收录号20111313856254
产权排序2
ISBN号978-1-4244-9317-3
摘要As we know, a snake-like robot imitating the locomotion of real snakes can adapt to many kinds of environments. A successful collision-free behavior is necessary for adaptive locomotion of the snake-like robot. Many researchers have used Amplitude Modulation Method (AMM) to realize the turn motion of the snake robot. However, most of them are only qualitative studies without any concrete analysis of this method. For this reason, this research tries to solve these problems and give a computational model of Amplitude Modulation Method (AMM) for turn motion. Based on a head-navigated motion pattern, how to implement the proposed model for a collision-free behavior automatically is investigated. A simple simulation environment is constructed to verify the designed control strategy for this autonomous collision-free behavior of the snake-like robot.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20054
专题机器人学研究室
通讯作者Wu XD(吴小东)
作者单位1.Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan
2.Shenyang Institute of Automation, CAS, China
推荐引用方式
GB/T 7714
Wu XD,Ma SG. Autonomous collision-free behavior of a snake-like robot[C]//IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology. Piscataway, NJ:IEEE Computer Society,2010:1490-1495.
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