DocumentCode
393783
Title
Locomotion and coiling motion control of snakelike robot using pneumatic actuators
Author
Izu, Hiroki ; Date, Hisashi ; Shigeta, Kouichi ; Yamanaka, Toshiro ; Nakaura, Shigeki ; Sampei, Mitsuji
Author_Institution
Tokyo Inst. of Technol., Japan
Volume
3
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
1476
Abstract
This paper deals with locomotion and coiling motion control experiments of a snakelike robot which has passive wheels and active joints. First, a new snakelike robot is shown. This robot has pneumatic actuators for its driving joints that is more suitable for a coiling motion than electric motors and reduction gears. Then the motions have been realized experimentally applying feedback control to the robot.
Keywords
motion control; pneumatic control equipment; robot dynamics; active joints; coiling motion; coiling motion control; locomotion; passive wheels; pneumatic actuators; reduction gears; snakelike robot; Motion control; Pneumatic actuators; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1196524
Filename
1196524
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