Title :
Optimal shape of a snake robot for jumping
Author :
Hoshino, Keiichi ; Tanaka, Motoyasu ; Matsuno, Fumitoshi
Author_Institution :
Univ. of Electro-Commun., Tokyo, Japan
Abstract :
In this paper, we discuss an optimal shape of the grounded part of a snake robot with passive wheels for jumping. First, we derive a relationship between constraint forces for the wheels and necessary friction forces, and propose a constraint force ellipse. Next, we introduce an evaluation index for the optimal shape of the grounded part (base part) of a snake robot using the constraint force ellipse. Finally, in order to demonstrate the validity of the optimal shape that minimizes the evolution index, simulations have been carried out.
Keywords :
constraint theory; force control; friction; mobile robots; constraint force ellipse; constraint forces; evaluation index; evolution index; friction forces; optimal shape; snake robot; Anisotropic magnetoresistance; Friction; Gravity; Joining processes; Mobile robots; Robot kinematics; Robotics and automation; Shape; USA Councils; Wheels;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509673
