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题名: Locomotion Control and Gaits' Modality of a 3D NED Snake-like Robot
作者: Yu SM(郁树梅) ; Ma SG(马书根) ; Li B(李斌) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: Annual Conference of the SICE
会议日期: August 20-22, 2008
会议地点: Chofu, JAPAN
会议录: 2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 2910-2914
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-4-907764-30-2
摘要: This paper describes our work on the studies of the locomotion of a 3D snake-like robot, which has been developed by our laboratory for special usage. In this paper, we first describe the mechanical design of the robot and its control system, then we give the basic formulas for the robot's 2D and 3D locomotion, which are based on Serpenoid Curve. While having realized 2D locomotion of serpentine and concertina, many 3D motion gaits were obtained and the 3D motions of the snake-like robot were generated by changing the parameters of the 3D locomotion formula. Moreover, the performance variances under different control form-Was were observed for each gait. These results help to better control the snake-like robots' locomotion.
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/173321/8760
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
郁树梅; 马书根; 李斌; 王越超 .Locomotion Control and Gaits' Modality of a 3D NED Snake-like Robot.见:IEEE .2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7,NEW YORK,2008,2910-2914
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