DocumentCode
2240253
Title
Control of a 3-dimensional snake-like robot
Author
Ma, Shugen ; Ohmameuda, Y. ; Inoue, Kousuke ; Bin Li
Author_Institution
Dept. of Syst. Eng., Ibaraki Univ., Hitachi, Japan
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
2067
Abstract
Biological snakes´ diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. In this paper, we first discuss the controllability of a 3-dimensional snake-like robot, and then show the controllability of the robot by computer simulation.
Keywords
control system analysis computing; controllability; digital simulation; legged locomotion; motion control; multidimensional systems; robot kinematics; 3D snake robot control; biological snake model; computer simulation; locomotion modes; marshland environments; robot controllability; snake physiology; Automatic control; Controllability; Equations; Laboratories; Mobile robots; Motion control; Robotics and automation; Shape control; Systems engineering and theory; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241898
Filename
1241898
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