Title :
A bio-mimetic snake-like robot: Sensor based gait control
Author :
Chen, Tito Lu Tang ; Liu, Shu-Hung ; Yen, Jia-Yush
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei
Abstract :
This paper presents the design of a snake-like robot capable of moving with serpenoid motion presented by snakes in real world. A mechanism for measuring the contact between surface and robot is designed and finally, using the data collected by the sensors, a controller is designed for optimizing the motion on surfaces with different coefficients of friction. Experiments are conducted and results show the efficiency of the controller.
Keywords :
biomimetics; control system synthesis; mobile robots; sensors; biomimetic snake-like robot; controller design; data collection; friction coefficients; sensor based gait control; serpenoid motion; Animals; Biosensors; Connectors; Humans; Legged locomotion; Mobile robots; Plastics; Robot sensing systems; Servomotors; Wheels;
Conference_Titel :
Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-2674-4
Electronic_ISBN :
978-1-4244-2675-1
DOI :
10.1109/ARSO.2008.4653612
