Title :
A `sidewinding´ locomotion gait for hyper-redundant robots
Author :
Burdick, J.W. ; Radford, J. ; Chirikjian, G.S.
Author_Institution :
Dept. of Mech. Eng., CALTECH, Pasadena, CA, USA
Abstract :
The kinematics of a form of hyper-redundant mobile robot locomotion which is analogous to the sidewinding locomotion of desert snakes are considered. This form of locomotion can be generated by a repetitive traveling wave of mechanism bending. Using a continuous backbone curve model, algorithms are developed which enable travel in a uniform direction as well as changes in direction
Keywords :
kinematics; mobile robots; redundancy; continuous backbone curve model; desert snakes; hyper-redundant mobile robot locomotion; kinematics; mechanism bending; repetitive traveling wave; sidewinding locomotion; Acceleration; Kinematics; Leg; Mechanical engineering; Mobile robots; Postal services; Spine; Vehicles; Wheels;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291864
