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题名: 一种水陆两栖蛇形机器人的研究
其他题名: Development of An Amphibious Snake-like Robot
作者: 李斌 ; 马书根 ; 叶长龙 ; 郁树梅 ; 张国伟 ; 龚海里
作者部门: 机器人学研究室
会议名称: 2010 8th World Congress on Intelligent Control and Automation (WCICA 2010)
会议日期: July 7-9, 2010
会议地点: Jinan, China
会议主办者: IEEE
会议录: 2010 8th World Congress on Intelligent Control and Automation (WCICA 2010)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2010
页码: 613-618
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-6712-9
关键词: 水陆两桶 ; 蛇形机器人 ; 步态
摘要: 本文介绍了一种水陆两栖蛇形机器人。该水陆两栖蛇形机器人自8个相同的模块组成,模块之间采用基于O型圈的防水密封结构。本文给出了每种运动步态的控制方程。由于其独特的关节结构设计和表面的翼片的特性,该水陆两栖蛇形机器人具有很强的水陆两栖运动能力。水陆两栖环境的实验验证了该水陆两栖蛇形机器人的运动功能。
英文摘要: This paper presents an amphibious snake-like robot's design. This amphibious snake-like robot, mainly composed by 8 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. The control equations for each gait are introduced. Due to its special joint design and the feature of being densely covered by vanes, the robot is endowed with an omnipotent ability of amphibious locomotion. Experiments both on the land and in the water have been made to testify the function of the amphibious snake-like robot.
语种: 中文
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8964
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
李斌; 马书根; 叶长龙; 郁树梅; 张国伟; 龚海里.一种水陆两栖蛇形机器人的研究.见:IEEE .2010 8th World Congress on Intelligent Control and Automation (WCICA 2010),Piscataway, NJ, USA,2010,613-618
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