DocumentCode
2692479
Title
An amphibious snake-like robot with terrestrial and aquatic gaits
Author
Yu, Shumei ; Ma, Shugen ; Li, Bin ; Wang, Yuechao
Author_Institution
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
fYear
2011
fDate
9-13 May 2011
Firstpage
2960
Lastpage
2961
Abstract
This paper presents the mechanism design, control system, terrestrial and aquatic gaits of an amphibious snake-like robot "Perambulator" developed in State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS). Previous researches have been done on amphibious snake-like robots, among which Amphibot series and ACM-R5 are the most famous ones. The joints of Amphibot I and Amphibot II are of yaw DOF design, so they only have two-dimensional motion capability; ACM-R5 is a three-dimensional amphibious snake-like robot and it has an ingenious design in its joint, which is with two pairs of sector gears located perpendicularly on its both sides to realize the yaw DOF and the pitch DOF.
Keywords
mobile robots; 2D motion capability; 3D amphibious snake-like robot; ACM-R5; Amphibot series; Perambulator; aquatic gaits; control system; terrestrial gaits; Automation; Gears; Joints; Laboratories; Mobile robots; Shafts;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5979869
Filename
5979869
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