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题名: Studies on lateral rolling locomotion of a 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 and Automation
会议日期: April 26-May 1, 2004
会议地点: New Orleans, LA
会议主办者: IEEE Robot & Automat Soc, IEEE
会议录: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2004
页码: 5070-5074
收录类别: CPCI(ISTP) ; EI
ISSN号: 1050-4729
ISBN号: 0-7803-8232-3
摘要: A reconfigurable modular snake robot has been developed, which can not only move on a plane but also achieve some 3-dimensional motions while reconfigured. Control equations of 3-dimensional locomotion were established by the composition of two bending motions in mutual orthogonal plane. Three types of lateral rolling locomotion, flapping, linear rolling and curved rolling, were achieved by controlling the amplitudes and the number of two waves in the two bending motions. Using the three types of locomotion the snake robot can realize net lateral translation, alternation of its contact base and rolling over some obstacles. The lateral rolling locomotion obtains its driving force through the interaction with the environment The rolling shape and its direction depend on the transferring direction and phase difference of the two waves respectively.
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/173321/8889
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.Studies on lateral rolling locomotion of a snake robot.见:IEEE .2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS,NEW YORK,2004,5070-5074
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