Adaptive Locomotion of Multibody Snake-like Robot
نویسندگان
چکیده
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic properties of this control and a dynamics of different body segments. It turned out that despite using homogeneous generators, physical constraints have an inhomogeneous impact on neighbor body segments. By analytical modeling of such dynamics, it may result in heterogeneous coupling of oscillators for a rhythmic control and impact scalability and synchronization effects of gait pattern generators. 1 ar X iv :1 10 8. 61 75 v1 [ cs .R O ] 3 1 A ug 2 01 1 Eugen Meister, Sergej Stepanenko and Serge Kernbach
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عنوان ژورنال:
- CoRR
دوره abs/1108.6175 شماره
صفحات -
تاریخ انتشار 2011