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题名: Twist-related locomotion of a 3D 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 Biomimetics (ROBIO 2004)
会议日期: August 22-26, 2004
会议地点: Shenyang, China
会议主办者: IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone
会议录: IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2004
页码: 589-594
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-8641-8
关键词: snake-like robot ; twist-related locomotion ; simplied function ; consposite locomotion
摘要: As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snake-like robot can move on rough ground and even climb up some obstacles. In this paper, the twist-related locomotion function is firstly solved, and simplified to he expressed by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist-related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses.
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/173321/8934
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.Twist-related locomotion of a 3D snake-like robot.见:IEEE .IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS,NEW YORK,2004,589-594
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