Dynamics and Motion Planning of Trident Snake Robot

Motion Planning for Concertina and Lateral Undulation Motion Mechanism in a Snake Robot

A snake robot can be used for exploration purposes on various surfaces due to its versatile nature. During this, the concertina and lateral undulation motions are the most common motions exhibited by it. In this paper we have developed a motion planning sequence for these motions which will be useful while writing algorithm and during real time coding.

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

Dynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains

Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...

Robot Motion Planning

Robot Motion Planning