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An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water
Yu SM(郁树梅); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
Conference NameIEEE International Conference on Information and Automation (ICIA 2009)
Conference DateJune 22-24, 2009
Conference PlaceZhuhai, China
Author of SourceIEEE
Publication PlaceNEW YORK
Indexed ByEI ; CPCI(ISTP)
EI Accession number20094812499003
WOS IDWOS:000277076800090
Contribution Rank1
KeywordSnake-like Robot Amphibious Locomotion Serpenoid Curve
AbstractThis paper presents an amphibious snake-like robot's design and its omnipotent locomotion ability both on the land and in the water. This amphibious snake-like robot, mainly composed by 9 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. In this paper, we concentrate on the gait diversity of the amphibious snake-like robot. Due to its special joint design and the feature of being densely covered by vanes, the robot is endowed with an omnipotent ability of amphibious locomotion. Besides the traditional fundamental gaits, the robot displays unheard-of gaits like S-shape rolling and helical rolling, which all have important influences on the robot's traversing ability and control of position and posture. We still use a simplified Serpenoid Curve to deduce the control equations for each gait, but have new discoveries on gait generation method and traits of the robot's diverse locomotion. Experimental results show all gaits of the amphibious snake-like robot.
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Document Type会议论文
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China
2.Department of Robotics, Faculty of Science and Engineering, Ritsumeikan University, Shiga-ken 525-8577, Japan
3.Graduate School of Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Yu SM,Ma SG,Li B,et al. An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water[C]//IEEE. NEW YORK:IEEE,2009:485-490.
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