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Adaptive controller design for underwater snake robot with unmatched uncertainties 期刊论文
SCIENCE CHINA-INFORMATION SCIENCES, 2016, 卷号: 59, 期号: 5, 页码: 1-15
Authors:  Zhang AF(张安翻);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Guo X(郭宪);  Wang YC(王越超)
View  |  Adobe PDF(1027Kb)  |  Favorite  |  View/Download:347/51  |  Submit date:2016/06/21
Underwater Snake-like Robot  Adaptive Control  Simplified System  Piecewise Constant Law  Unmatched Uncertainties  Underactuated Robots  
Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory 期刊论文
Science China Information Sciences, 2015, 卷号: 58, 期号: 3, 页码: 1-13
Authors:  Guo X(郭宪);  Ma SG(马书根);  Li B(李斌);  Wang MH(王明辉);  Wang YC(王越超)
View  |  Adobe PDF(837Kb)  |  Favorite  |  View/Download:379/67  |  Submit date:2015/03/17
Snake-like Robot  Redundant Torque  Fiber Bundle Theory  Nonholonomic  Optimal Control  
A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry 期刊论文
SCIENCE CHINA-INFORMATION SCIENCES, 2011, 卷号: 54, 期号: 2, 页码: 318-333
Authors:  Wang ZF(王智锋);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
View  |  Adobe PDF(1119Kb)  |  Favorite  |  View/Download:725/130  |  Submit date:2012/05/29
Snake-like Robot  Dynamics  Unified Model  Differential Geometry  Locomotion  Manipulation  
An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water 会议论文
ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3, Zhuhai, China, June 22-24, 2009
Authors:  Yu SM(郁树梅);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
Adobe PDF(3482Kb)  |  Favorite  |  View/Download:469/120  |  Submit date:2012/06/06
Snake-like Robot  Amphibious  Locomotion  Serpenoid Curve  
Modular universal unit for a snake-like robot and reconfigurable robots 期刊论文
Advanced Robotics, 2009, 卷号: 23, 期号: 7-8, 页码: 865-887
Authors:  Ye ZL(叶长龙);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
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Modular Universal Unit  Snake-like Robot  Reconfigurable Robot  Kinematic Model  Locomotion  
Gaits-transferable CPG controller for a snake-like robot 期刊论文
Science in China Series F: Information Sciences, 2008, 卷号: 51, 期号: 3, 页码: 293-305
Authors:  Lu ZL(卢振利);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
View  |  Adobe PDF(5119Kb)  |  Favorite  |  View/Download:393/105  |  Submit date:2012/05/29
Snake-like Robot  Bidirectional Cyclic Inhibition (Bci)  Central Pattern Generator (Cpg)  Stability Analysis  Locomotion Control  
Locomotion of a snake-like robot controlled by the bidirectional cyclic inhibitory CPG model 会议论文
2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3, Kunming, China, December 17-20, 2006
Authors:  Lu ZL(卢振利);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
View  |  Adobe PDF(779Kb)  |  Favorite  |  View/Download:398/86  |  Submit date:2012/06/06
Snake-like Robot  Bidirectional Cyclic Inhibition  Central Pattern Generator (Cpg)  Stability Analysis  Locomotion Control  
3D locomotion of a snake-like robot controlled by cyclic inhibitory CPG model 会议论文
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, Beijing, China, October 9-13, 2006
Authors:  Lu ZL(卢振利);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
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Snake-like Robot  3-dimensional Locomotion  Cyclic Inhibition  Central Pattern Generator (Cpg)  Stability Analysis  
Twist-related locomotion of a snake-like robot 期刊论文
High Technology Letters, 2006, 卷号: 12, 期号: 2, 页码: 143-149
Authors:  Ye ZL(叶长龙);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超);  Jing Tao
Adobe PDF(317Kb)  |  Favorite  |  View/Download:500/161  |  Submit date:2012/05/29
Snake-like Robot  Twist-related Locomotion  Simplified Function  Composite Locomotion  
Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model 会议论文
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, Edmonton, CANADA, August 2-6, 2005
Authors:  Lu ZL(卢振利);  Ma SG(马书根);  Li B(李斌);  Wang YC(王越超)
Adobe PDF(414Kb)  |  Favorite  |  View/Download:499/125  |  Submit date:2012/06/06
Snake-like Robot  Central Pattern Generator (Cpg)  Cyclic Inhibition  Serpentine Locomotion  Locomotion Control