A geometric approach to modeling of four- and five-link planar snake-like robot
نویسندگان
چکیده
منابع مشابه
Planar kinematics analysis of a snake-like robot
This paper presents the kinematics of a planar multibody vehicle which is aimed at the exploration, data collection, non-destructive testing and general autonomous navigation and operations in confined environments such as pipelines. The robot is made of several identical modules hinged by passive revolute joints. Every module is actuated with four active revolute joints and can be regarded as ...
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HICKS, GREGORY PHILIP. Modeling and Control of a Snake-like Serial-link Structure (Under the direction of Kazufumi Ito). The topic considered is the modeling and control of a snake-like serial-link structure. The system is assumed to have torque controls about the joints, is considered to lie in an isotropic plane, and is assumed to interact with this plane in a manner which adheres to some sui...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2016
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881416663714