DocumentCode
2913268
Title
GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control
Author
Klaassen, Bernhard ; Paap, Karl L.
Author_Institution
GMD-AiS, St. Augustin, Germany
Volume
4
fYear
1999
fDate
1999
Firstpage
3014
Abstract
Based on the experience with our first GMD-SNAKE, we now present the next generation robot, the GMD-SNAKE2, which is a robot for inspection tasks in areas difficult to access by humans. We aim to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of our robot we concentrate on a method for motion control. It allows a very flexible and consistent method of path planning and calculation where smooth curves are desired. It is applicable not only to snake-like movement, but to any wheeled robot which is able to control the curvature of its path
Keywords
distributed control; inspection; mobile robots; motion control; path planning; robot dynamics; GMD-SNAKE2; distributed control; motion control; path planning; snake-like robot; wheeled mobile robot; Communication system control; DC motors; Delay estimation; Engine cylinders; Infrared sensors; Inspection; Mobile robots; Motion control; Propulsion; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.774055
Filename
774055
Link To Document