Title :
Analysis of helical gait of a snake-like robot
Author :
Yu, Shumei ; Ma, Shugen ; Bin Li ; Wang, Yuechao
Author_Institution :
State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang
Abstract :
This paper presents our work on analysis of helical gait for snake-like robots. Although helical gait of snake-like robots was realized before, there is no any intensive investigation about the relationship between its performance and the control parameter settings. In this paper, we firstly introduce our SIA snake-like robot and its helical gait equations, then derive the snake-like robotpsilas body shape which is used for control, finally perform some comparative experiments to pursue the characteristics of the helical gait.
Keywords :
mobile robots; shape control; body shape control; control parameter; helical gait; snake-like robot; Equations; Intelligent robots; Laboratories; Mechatronics; Mobile robots; Motion control; Robot control; Robotics and automation; Shape control; Wheels; helical gait; locomotion; snake-like robots;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601830
