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题名: Turning and side motion of 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: 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: 5075-5080
收录类别: CPCI(ISTP) ; EI
ISSN号: 1050-4729
ISBN号: 0-7803-8232-3
摘要: With high adaptability to environments snake-like robots offer a variety of advantages over other mobile robots. Such a robot with passive wheels has quite different mechanism in locomotion from that of other locomotion systems. We have developed a snake-like robot for rescue applications. The unit composing the snake-like robot of Shenyang Institute of Automation (SIA) is a module including actuating system and control system. To let the snake-like robot perform turning motion and compensate offset and orientation errors of the robot, we propose an amplitude modulation method and a phase modulation method based on analysis of the serpenoid curve. The side motion of the snake-like robot can also be generated by the amplitude modulation. The tracking control method is also proposed based on sensor information. Computer simulations and experimental tests are performed to show the validity of the proposed 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/173321/8933
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.Turning and side motion of snake-like robot.见:IEEE .2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS,NEW YORK,2004,5075-5080
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