AmphiBot I: an amphibious snake-like robot
نویسندگان
چکیده
منابع مشابه
AmphiBot I: an amphibious snake-like robot
This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the rob...
متن کاملAmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator
This article presents AmphiBot II, an amphibious snake robot designed for both serpentine locomotion (crawling) and swimming. It is controlled by an on-board central pattern generator (CPG) inspired by those found in vertebrates. The CPG is modelled as a chain of coupled nonlinear oscillators, and is designed to produce travelling waves. Its parameters can be modified on the fly. We present the...
متن کاملAn amphibious robot capable of snake and lamprey-like locomotion
This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like the lamprey in water and serpentine locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the robot is controlled by ...
متن کاملAn Amphibious Snake-like Robot with Novel Gaits on Ground and in Water
Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control system of the robot are illustrated. A simplified Serpenoid Curve is used to generate the basic undulation of the robot. Three-dimensional gaits are generated by combining undulations o...
متن کاملDolphin-like Swimming Modeling for a Biomimetic Amphibious Robot ⋆
Abstract: This paper focuses on a dolphin-like swimming hydrodynamics problem for a biomimetic amphibious robot capable of both fishand dolphin-like swimming modes. A Lagrangian reduction has been established in terms of rigid-body dynamics. For robust gait control, a central pattern generator-based approach is incorporated into the model serving as explicit joint angle control. Consequently, a...
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ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 2005
ISSN: 0921-8890
DOI: 10.1016/j.robot.2004.09.015