DocumentCode
1559570
Title
Serpentine locomotion with robotic snakes
Author
Sato, Mitsuhisa ; Fukaya, Masakazu ; Iwasaki, Tetsuya
Author_Institution
Div. of Autom. Products, Hitachi Ltd., Ibaraki, Japan
Volume
22
Issue
1
fYear
2002
fDate
2/1/2002 12:00:00 AM
Firstpage
64
Lastpage
81
Abstract
Many mobile robots used for ground operations are wheel driven, but serpentine robots offer many advantages over the wheeled variety. The article outlines what those advantages are
Keywords
feedback; friction; matrix algebra; mobile robots; velocity control; Coulomb friction model; articulated robot; dynamic decoupling; equations of motion; feedback synthesis; mobile robot; robotic snakes; serpenoid curve; serpentine gait; serpentine locomotion; snake robot; speed control system; Actuators; Engines; Friction; Leg; Mathematical model; Mobile robots; Rough surfaces; Shape control; Surface roughness; Wheels;
fLanguage
English
Journal_Title
Control Systems, IEEE
Publisher
ieee
ISSN
1066-033X
Type
jour
DOI
10.1109/37.980248
Filename
980248
Link To Document