Title :
Serpentine locomotion with robotic snakes
Author :
Sato, Mitsuhisa ; Fukaya, Masakazu ; Iwasaki, Tetsuya
Author_Institution :
Div. of Autom. Products, Hitachi Ltd., Ibaraki, Japan
fDate :
2/1/2002 12:00:00 AM
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;
Journal_Title :
Control Systems, IEEE
