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题名: Serpentine Locomotion of a Snake-like Robot in Water Environment
作者: Zuo ZJ(左志坚) ; Wang ZF(王智锋) ; Li B(李斌) ; Ma SG(马书根)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期: February 22-25, 2009
会议地点: Bangkok, THAILAND
会议主办者: IEEE Robot & Automat Soc
会议录: 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 25-30
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2678-2
关键词: Serpentine Locomotion ; Hydrodynamic ; Amphibious snake-like Robot
摘要: Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot; its main characteristic is the wave-like undulation of the snake's body. In order to realize the noticeable features of the snake-like robot's serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic equation for the robot's underwater serpentine locomotion, the simulation based on the dynamic model was made using ADAMS, Finally we presented the influence of the robot's joint angle parameters on the underwater performance of the robot and made experiments to validate the result of ideas and simulations.
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/173321/8872
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
左志坚; 王智锋; 李斌; 马书根.Serpentine Locomotion of a Snake-like Robot in Water Environment.见:IEEE .2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4,NEW YORK,2009,25-30
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