NDLI: Studies on lateral rolling locomotion of a snake robot

Content Provider	IEEE Xplore Digital Library
Author	Li Chen Yuechao Wang Shugen Ma Bin Li
Copyright Year	2004
Description	Author affiliation: lbaraki University (Li Chen)
Abstract	A reconfigurable modular snake robot has been developed, which can not only move on a plane but aIso achieve some f-dimensional motions while reconfigured. Control equations of 3-dimensional locomotion were established by the composition of two bending motions in mutual orthogonal plane. Three types of lateral rolling locomotion, flapping, linear rolling and curved rolling, were achieved by controlling the amplitudes and the number of two waves in the two bending motions. Using the three types of locomotion the snake robot can realize net lateral translation, alternation of its contact base and rolling over some obstacles. The lateral rolling locomotion obtains its driving force through the interaction with the environment. The rolling shape and its direction depend on the transferring direction and phase difference of the two waves respectively.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	5070
Ending Page	5074
File Size	724481
Page Count	5
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1302521
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots DC motors Orbital robotics Robotics and automation Motion control Metalworking machines Laboratories Systems engineering and theory Equations Shape
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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