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题名: A simulator to analyze creeping locomotion of a snake-like robot
作者: Ma SG(马书根) ; Li WR(李文荣) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Automation
会议日期: May 21-26, 2001
会议地点: SEOUL, SOUTH KOREA
会议主办者: IEEE Robot & Automat Soc, IEEE
会议录: 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2001
页码: 3656-3661
收录类别: CPCI(ISTP) ; EI
ISSN号: 1050-4729
ISBN号: 0-7803-6576-3
摘要: Snakes perform many kinds of movement that are adaptable to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot that emulates a snakes' function is important for generating a new type of locomotor and expanding the possible use of robots. In this study, we developed a simulator to simulate the creeping locomotion of a snake-like robot, in which the robot dynamics is modeled and its interaction with the environment is considered through Coulomb friction. This simulator makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Through the developed simulator, we investigated the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side. and discussed the optimal creeping locomotion of the snake-like robot that is adaptable to a given environment.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8520
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
马书根; 李文荣; 王越超.A simulator to analyze creeping locomotion of a snake-like robot.见:IEEE .2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS,NEW YORK,2001,3656-3661
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