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Experimental study of passive creeping for a snake-like robot
Wang ZF(王智锋); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
Department机器人学研究室
Conference Name2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Conference DateMay 22-25, 2011
Conference PlaceHarbin, China
Author of SourceIEEE Systems, Man, and Cybernetics Society; Institute of Complex Medical Engineering; Harbin Engineering University; Kagawa University
Source Publication2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ
2011
Pages382-387
Indexed ByEI
EI Accession number20112814129403
Contribution Rank1
ISBN978-1-4244-9324-1
KeywordBiomedical Engineering Experiments Serpentine
AbstractThe control of a snake-like robot is a challenging problem because of unknown environments and complex dynamics. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. In the paper, we present a hypothesis that the energy state of the robot can influence the locomotor adaptation. And then we lay emphasis on experiments in order to test the hypothesis and validate the passive creeping. A locomotion experiment and a drag experiment demonstrate the adaptability of the passive creeping to variable environments and different dynamics (or payloads), respectively. In the experiments, an optical motion capture system is used to obtain the kinetic energy information of the snake-like robot in real time. 
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8701
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan
3.Graduate University, Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Wang ZF,Ma SG,Li B,et al. Experimental study of passive creeping for a snake-like robot[C]//IEEE Systems, Man, and Cybernetics Society; Institute of Complex Medical Engineering; Harbin Engineering University; Kagawa University. Piscataway, NJ:IEEE Computer Society,2011:382-387.
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