Title :
Serpentine locomotion on surfaces with uniform friction
Author_Institution :
Swedish Inst. of Comput. Sci., Kista, Sweden
fDate :
28 Sept.-2 Oct. 2004
Abstract :
A common view in snake robot research is that serpentine locomotion is only possible when there is nonuniform friction. This paper demonstrates that this view is incorrect, through a simple and easily reproducible experiment. We also present a theoretical kinematical analysis, which explains the experiment.
Keywords :
friction; mobile robots; robot kinematics; kinematical analysis; serpentine locomotion; snake robot; uniform friction; Computer science; Energy loss; Friction; Kinematics; Motion analysis; Robots; Shape; Silicon carbide; Terminology;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389649
