NDLI: A Novel Kinematics Modeling Method for Snake Robot in Travelling Locomotion

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Safehian, Javad Kalani, Hadi Akbarzadeh, Alireza
Copyright Year	2010
Abstract	Snake robots moving in traveling wave locomotion are able to move forward and backward in narrow passages and partial unstructured environment. In this paper, a novel kinematics modeling method for travelling wave gait is presented. This method can be implemented on different snake body curves. In the present work, snake body can assume any shape that can cause propulsive motion. Unlike previous studies, relative joint angles are more simply obtained using numerical methods. Furthermore, angles of the two links making contact with ground can have different values. To develop the kinematics model, dynamics model is necessary and is therefore developed. Finally, the kinematics model is simulated in Webots software. Results confirm that the established kinematics modeling generates traveling wave locomotion. Effects of asymmetrical absolute angels of contact points on progression speed using Webots software is also investigated and reported.
Sponsorship	International
Starting Page	703
Ending Page	709
Page Count	7
File Format	PDF
ISBN	9780791849170
DOI	10.1115/ESDA2010-24761
e-ISBN	9780791838778
Volume Number	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3
Conference Proceedings	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
Language	English
Publisher Date	2010-07-12
Publisher Place	Istanbul, Turkey
Access Restriction	Subscribed
Subject Keyword	Numerical analysis Computer software Dynamics (mechanics) Kinematics Traveling waves Shapes Modeling Robots
Content Type	Text
Resource Type	Article

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