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题名: Analysis of traveling wave locomotion of snake robot
作者: Chen L(陈丽) ; Wang YC(王越超) ; Ma SG(马书根) ; Li B(李斌)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics, Intelligent Systems and Signal Processing
会议日期: October 8-13, 2003
会议地点: Changsha, China
会议主办者: Chinese High tech Dev Program, Chinese Acad Sci, Chinese Soc Automat, IEEE Syst, Man & Cybernet Soc, Chinese Univ Hong Kong, Natl Univ Def Technol, IEEE Hong Kong RA & CS Joint Chapter, Joint Ctr Intelligen Sensing & Syst, Sch Elect Sci & Engn, Sch Mechatron Engn & Automat
会议录: 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2003
页码: 365-369
收录类别: CPCI(ISTP)
ISBN号: 0-7803-7925-X
摘要: The mechanism of traveling wave locomotion of a snake robot was analyzed in the paper. Its kinemics model was founded and a modified control strategy was conducted in a reconfigurable snake robot. The results shows that in one period the locomotion can be divided into four phases according to the number of joints contacting with the supporting plane, and the resultant force of the friction forces on contacting joints generates locomotion. The modified control method can form smoother body curve and generate the accelerated or decelerated locomotion. Experimental results show that using traveling wave locomotion the robot is able to go forward and backward, and turn around, especially can move in a narrow site and some partial unstructured environments. The maximum linear velocity that can obtain is 0.04 m/s, the slope of the inclined plane that can be climbed is 20degrees on a carpet, the maximum wideness of gap that can be crossed is 0.14 m, and the minimum diameter of the pipe that can be gone through is 0.06 m.
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/173321/8582
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
陈丽; 王越超; 马书根; 李斌.Analysis of traveling wave locomotion of snake robot.见:IEEE .2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS,NEW YORK,2003,365-369
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