Title :
Influence of inclining angle of a slope to optimal locomotion curves of a snake-like robot
Author :
Ma, Shugen ; Tadokoro, Naoki ; Inoue, Kousuke ; Li, Bin
Author_Institution :
Dept. of Syst. Eng., Ibaraki Univ., Hitachi, Japan
Abstract :
Snakes perform many kinds of movement adapted to environments. Utilizing the snake as a model, we have developed a 2-dimensional snake-like robot that emulates a snakes´ function. To make our robot move optimally while adapting to the slope environment, in this study we discussed the influence of the inclining angle of the slope to the creeping locomotion of the robot and derived its optimal creeping locomotion curves that adapted to the given slopes.
Keywords :
adaptive systems; mobile robots; optimisation; 2D snake-like robot; optimal creeping locomotion curves; robot optimal movement; slope environment; Analytical models; Computational modeling; Content addressable storage; Ice; Motion analysis; Robotics and automation; Robots; Shape; Systems engineering and theory;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285599
