NDLI: Research on the locomotion mechanism of snake-like robot

Content Provider	IEEE Xplore Digital Library
Author	Hua Liu Guozheng Yan Guoqing Ding
Copyright Year	2001
Description	Author affiliation: Dept. of Inf. Meas. Technol. & Instruments, Shanghai Jiao Tong Univ., China (Hua Liu)
Abstract	This paper presents a novel kind of a snake-like robot. The structure of the snake-like robot is discussed. The mathematical model of the snake-like robot is also proposed. This paper discusses carefully the locomotion mechanism of moving forward, moving backward and steering. The geometry analysis of the snake-like robot is analyzed. The control arithmetic based on the locomotion mechanism and the geometry analysis is also deduced. The snake-like robot can move forward and backward controlled by the arithmetic. The results of the simulation correspond with the results of the experiments very well. This kind of snake-like robot can take some micro sensors such as CCD camera, ultrasonic sensors and so on. Then it can complete some difficult tasks.
Sponsorship	City of Nagoya
Starting Page	183
Ending Page	188
File Size	572732
Page Count	6
File Format	PDF
ISBN	0780371909
DOI	10.1109/MHS.2001.965242
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-09-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Gears Mobile robots Orbital robotics Traction motors Robot sensing systems Computational geometry Arithmetic Legged locomotion Instruments Charge coupled devices
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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