GMD-SNAKE2: A Snake-Like Robot Driven by Wheels and a Method for Motion Control
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چکیده
A bstract After getting some experience with our first GMDSnake, we can now present the next generation: GMD-SNAKE2, a robot for inspection tasks in areas difficult to access by humans. Here we tried to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of our robot we concentrate on a method for motion control. It allows a very flexible and consistent method of path planning and calculation where smooth curves are desired. It is applicable not only to snake-like movement but to any wheeled robot which is able to control the curvature of its path.
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تاریخ انتشار 1999