DocumentCode
408074
Title
Influence of inclining angle of a slope to optimal locomotion curves of a snake-like robot
Author
Ma, Shugen ; Tadokoro, Naoki ; Inoue, Kousuke ; Li, Bin
Author_Institution
Dept. of Syst. Eng., Ibaraki Univ., Hitachi, Japan
Volume
1
fYear
2003
fDate
8-13 Oct. 2003
Firstpage
353
Abstract
Snakes perform many kinds of movement adapted to environments. Utilizing the snake as a model, we have developed a 2-dimensional snake-like robot that emulates a snakes´ function. To make our robot move optimally while adapting to the slope environment, in this study we discussed the influence of the inclining angle of the slope to the creeping locomotion of the robot and derived its optimal creeping locomotion curves that adapted to the given slopes.
Keywords
adaptive systems; mobile robots; optimisation; 2D snake-like robot; optimal creeping locomotion curves; robot optimal movement; slope environment; Analytical models; Computational modeling; Content addressable storage; Ice; Motion analysis; Robotics and automation; Robots; Shape; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN
0-7803-7925-X
Type
conf
DOI
10.1109/RISSP.2003.1285599
Filename
1285599
Link To Document