Title :
Research on the locomotion mechanism of snake-like robot
Author :
Liu, Hua ; Yan, Guozheng ; Ding, Guoqing
Author_Institution :
Dept. of Inf. Meas. Technol. & Instruments, Shanghai Jiao Tong Univ., China
Abstract :
This paper presents a novel kind of a snake-like robot. The structure of the snake-like robot is discussed. The mathematical model of the snake-like robot is also proposed. This paper discusses carefully the locomotion mechanism of moving forward, moving backward and steering. The geometry analysis of the snake-like robot is analyzed. The control arithmetic based on the locomotion mechanism and the geometry analysis is also deduced. The snake-like robot can move forward and backward controlled by the arithmetic. The results of the simulation correspond with the results of the experiments very well. This kind of snake-like robot can take some micro sensors such as CCD camera, ultrasonic sensors and so on. Then it can complete some difficult tasks
Keywords :
legged locomotion; robots; CCD camera; control arithmetic; geometry analysis; locomotion mechanism; mathematical model; micro sensors; simulation; snake-like robot; steering; ultrasonic sensors; Arithmetic; Charge coupled devices; Computational geometry; Gears; Instruments; Legged locomotion; Mobile robots; Orbital robotics; Robot sensing systems; Traction motors;
Conference_Titel :
Micromechatronics and Human Science, 2001. MHS 2001. Proceedings of 2001 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7190-9
DOI :
10.1109/MHS.2001.965242
