A survey on snake robot modeling and locomotion
نویسندگان
چکیده
منابع مشابه
kinematics and dynamics of a snake robot with worm like locomotion on inclined surface
snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...
متن کاملAdaptive Locomotion of Multibody Snake-like Robot
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic properties of this control and a dynamics of different body segments. It turned out that despite using homogeneous generators, physical constraints have an inh...
متن کاملSnake robot locomotion with compliant elements
Snake robots can be at the same time efficient tools to answer questions coming from biology on animal locomotion, but also agile machines that are able to efficiently locomote over unstructured terrains and narrow spaces, useful for engineering problems such as search and rescue. Compliance in the snake robot structure could bring many advantages such as faster locomotion speed, higher energy ...
متن کاملMultiple-objective Optimization of Serpentine Locomotion with Snake Robot by Using the NSGA
This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...
متن کاملStability analysis of snake robot locomotion based on Poincaré maps
This paper presents an analysis of snake locomotion that explains how non-uniform viscous ground friction conditions enable snake robots to locomote forward on a planar surface. The explanation is based on a simple mapping from link velocities normal to the direction of motion into propulsive forces in the direction of motion. From this analysis, a controller for a snake robot is proposed. A Po...
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ژورنال
عنوان ژورنال: Robotica
سال: 2009
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574709005414