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题名: Locomotion control of a novel snake-like robot
作者: Ye ZL(叶长龙) ; 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: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004)
会议日期: September 28 - October 2, 2004
会议地点: Sendai, Japan
会议主办者: IEEE
会议录: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Proceedings.
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2004
页码: 925-930
收录类别: EI
摘要: It is essential to design a joint mechanism for snake-like robots to exhibit more mobility, no singularity and powerful actuation for many applications. By adding a series of passive wheels to the perimeter of the newly designed joint mechanism with 3 DOFs, a snake-like robot provided with the characteristic of omnidirectional mechanism can traverse rough terrain and compensate the lack of actuation due to passive wheels. The nonholonomic constraints and kinematics are analyzed as well as the redundancy. The composite motion method and grouping alternation motion control method are thus proposed for the locomotion of robot and the avoidance of singularity. Also, the grouping alternation motion adds a new explanation to the sinus lifting locomotion of natural snake. Computer simulations validate both mobility of mechanism and effectiveness of control methods.
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/173321/8761
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
叶长龙; 马书根; 李斌; 王越超.Locomotion control of a novel snake-like robot.见:IEEE .2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Proceedings.,New York,2004,925-930
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