Title :
Locomotion and coiling motion control of snakelike robot using pneumatic actuators
Author :
Izu, Hiroki ; Date, Hisashi ; Shigeta, Kouichi ; Yamanaka, Toshiro ; Nakaura, Shigeki ; Sampei, Mitsuji
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
This paper deals with locomotion and coiling motion control experiments of a snakelike robot which has passive wheels and active joints. First, a new snakelike robot is shown. This robot has pneumatic actuators for its driving joints that is more suitable for a coiling motion than electric motors and reduction gears. Then the motions have been realized experimentally applying feedback control to the robot.
Keywords :
motion control; pneumatic control equipment; robot dynamics; active joints; coiling motion; coiling motion control; locomotion; passive wheels; pneumatic actuators; reduction gears; snakelike robot; Motion control; Pneumatic actuators; Robots;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196524
