DocumentCode :
3132856
Title :
Efficiency on snake robot locomotion with constant and variable bending angles
Author :
Chang, Kai-Hsiang ; Chen, Yung-Yaw
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei
fYear :
2008
fDate :
23-25 Aug. 2008
Firstpage :
1
Lastpage :
5
Abstract :
Serpentine motion is the most commonly seen locomotion style for snakes. Hirose proposed his famous kinematic equation to describe the serpentine motion which is widely used in the locomotion of snake-like robots. Based on the equation, the serpentine motion has constant amplitude of bending angles for the whole length of a snake. However, based on the observation of a real snake, the bending angle seems to be variable throughout the body. Variable bending angle models are therefore proposed in this paper to study the efficiency of the snake motions. The results show that cases with variable bending angles achieve better motion efficiency than the case with constant bending angles as described in the Hirose equation.
Keywords :
bending; mobile robots; motion control; robot kinematics; bending angles; kinematic equation; motion efficiency; serpentine motion; snake robot locomotion; Animals; Equations; Forward contracts; Friction; Kinematics; Muscles; Robots; Shape; Skin; Spine; Hirose; Locomotion; Serpentine; Snake-like robot;
fLanguage :
English
Publisher :
ieee
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
Type :
conf
DOI :
10.1109/ARSO.2008.4653626
Filename :
4653626
Link To Document :
بازگشت