• DocumentCode
    426178
  • Title

    Serpentine locomotion on surfaces with uniform friction

  • Author

    Nilsson, Martin

  • Author_Institution
    Swedish Inst. of Comput. Sci., Kista, Sweden
  • Volume
    2
  • fYear
    2004
  • fDate
    28 Sept.-2 Oct. 2004
  • Firstpage
    1451
  • Abstract
    A common view in snake robot research is that serpentine locomotion is only possible when there is nonuniform friction. This paper demonstrates that this view is incorrect, through a simple and easily reproducible experiment. We also present a theoretical kinematical analysis, which explains the experiment.
  • Keywords
    friction; mobile robots; robot kinematics; kinematical analysis; serpentine locomotion; snake robot; uniform friction; Computer science; Energy loss; Friction; Kinematics; Motion analysis; Robots; Shape; Silicon carbide; Terminology;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
  • Print_ISBN
    0-7803-8463-6
  • Type

    conf

  • DOI
    10.1109/IROS.2004.1389649
  • Filename
    1389649
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=426178