Planar kinematics analysis of a 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 ...
متن کاملkinematics 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 کاملKinematics Model of Snake Robot Considering Snake Scale
Problem statement: In snake robot research, one of the most efficient forms of locomotion is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel forward. Approach: To overcome the inability to adapt to narrow spaces, a novel type of a gait was introd...
متن کاملapplication of reinforcement learning for navigation of a planar snake robot in serpentine locomotion
this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...
متن کاملKinematics of the Caster Wheel of a Planar Mobile Robot
Articolul analizează cinematica roţii de orientare a unui robot mobil planar constituit dintr-o platformă orizontală şi două roţi convenţionale. Vitezele şi acceleraţiile caracteristice ale sistemului mecanic neolonom sunt stabilite pe baza unor relaţii matriceale de conectivitate. Cunoscând mişcarea celor două roţi motoare, se obţin expresii şi grafice pentru unghiul relativ de rotaţie şi trai...
متن کاملذخیره 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: Robotica
سال: 2013
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s026357471300091x