Title :
GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control
Author :
Klaassen, Bernhard ; Paap, Karl L.
Author_Institution :
GMD-AiS, St. Augustin, Germany
Abstract :
Based on the experience with our first GMD-SNAKE, we now present the next generation robot, the GMD-SNAKE2, which is a robot for inspection tasks in areas difficult to access by humans. We aim to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of our robot we concentrate on a method for motion control. It allows a very flexible and consistent method of path planning and calculation where smooth curves are desired. It is applicable not only to snake-like movement, but to any wheeled robot which is able to control the curvature of its path
Keywords :
distributed control; inspection; mobile robots; motion control; path planning; robot dynamics; GMD-SNAKE2; distributed control; motion control; path planning; snake-like robot; wheeled mobile robot; Communication system control; DC motors; Delay estimation; Engine cylinders; Infrared sensors; Inspection; Mobile robots; Motion control; Propulsion; Wheels;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.774055
