Title :
Control of a 3-dimensional snake-like robot
Author :
Ma, Shugen ; Ohmameuda, Y. ; Inoue, Kousuke ; Bin Li
Author_Institution :
Dept. of Syst. Eng., Ibaraki Univ., Hitachi, Japan
Abstract :
Biological snakes´ diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. In this paper, we first discuss the controllability of a 3-dimensional snake-like robot, and then show the controllability of the robot by computer simulation.
Keywords :
control system analysis computing; controllability; digital simulation; legged locomotion; motion control; multidimensional systems; robot kinematics; 3D snake robot control; biological snake model; computer simulation; locomotion modes; marshland environments; robot controllability; snake physiology; Automatic control; Controllability; Equations; Laboratories; Mobile robots; Motion control; Robotics and automation; Shape control; Systems engineering and theory; Wheels;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241898
