AmphiBot I: an amphibious snake-like robot

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

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 کامل

AmphiBot 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 کامل

An 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 کامل

An 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 کامل

Dolphin-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...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Robotics and Autonomous Systems

سال: 2005

ISSN: 0921-8890

DOI: 10.1016/j.robot.2004.09.015