DocumentCode
3376047
Title
Motion control scheme for a snake-like robot
Author
Paap, Karl L. ; Kirchner, Frank ; Klaassen, Bemhard
Author_Institution
GMD-AiS, St. Augustin, Germany
fYear
1999
fDate
1999
Firstpage
59
Lastpage
63
Abstract
We present a new control scheme for a snake-like robot. This scheme is very close to the scheme which real snakes use to control their movement. After presenting some observations gained from real snakes we describe our robot GMD-SNAKE2, a robot for inspection tasks in areas difficult to access by humans. Then we discuss the motion control which was inspired by real snakes. This motion control depends on knowing the robot speed. We also give a method for speed estimation which proved to be useful in this context
Keywords
industrial robots; inspection; mobile robots; motion control; GMD-SNAKE2; inspection tasks; motion control scheme; robot speed; snake-like robot; speed estimation; Cameras; Head; Humans; Inspection; Microcontrollers; Motion control; Propulsion; Robot sensing systems; Robot vision systems; Tail;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation, 1999. CIRA '99. Proceedings. 1999 IEEE International Symposium on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-5806-6
Type
conf
DOI
10.1109/CIRA.1999.809947
Filename
809947
Link To Document