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题名:
Mechanism design and locomotion of a snake robot
作者: Gao Q(高琴); Wang ZL(王哲龙); Shang H(尚红); Hu WJ(胡卫建); Jiang M(姜鸣)
作者部门: 机器人学研究室
会议名称: 12th International Conference on Intelligent Autonomous Systems, IAS 2012
会议日期: June 26-29, 2012
会议地点: Jeju Island, Korea, Republic of
会议录: Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
会议录出版者: Springer Verlag
会议录出版地: Heidelberg, Germany
出版日期: 2012
页码: 731-738
收录类别: EI ; CPCI(ISTP)
ISSN号: 2194-5357
ISBN号: 978-3-642-33931-8
关键词: Machine design ; Serpentine
摘要: As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. In the paper, a snake-like robot based on cylinder module is developed. The robot prototype consists of eleven modules that are connected by revolute joints. Each joint has two degrees of freedom and allows bending in two mutually orthogonal planes. The serpenoid curve is considered as the control law and control parameters of snake curve are chosen by simulation and adjusted after experiment. Experimental results of snake robot show that the gait based on serpentine curve is reasonable and controlled easily. © 2013 Springer-Verlag.
语种: 英语
产权排序: 2
EI收录号: 20130515953034
WOS记录号: WOS:000313768300068
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10506
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Gao Q,Wang ZL,Shang H,et al. Mechanism design and locomotion of a snake robot[C]. 12th International Conference on Intelligent Autonomous Systems, IAS 2012. Jeju Island, Korea, Republic of. June 26-29, 2012.Mechanism design and locomotion of a snake robot.
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文件名: Mechanism design and locomotion of a snake robot.pdf
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