Analysis of creeping locomotion of a snake-like robot on a slope

被引：64
作者：
Ma, SG
Tadokoro, N
机构：
[1] Shenyang Inst Automat, Robot Lab, Shenyang 110015, Peoples R China
[2] Ritsumeikan Univ, COE Res Inst, Hitachi Koki Co Ltd, Kyoto 5258577, Japan
来源：
AUTONOMOUS ROBOTS | 2006年 / 20卷 / 01期
基金：
日本学术振兴会; 中国国家自然科学基金;
关键词：
snake; snake-like robot; creeping locomotion; slope-adaptation; serpenoid curve; body shape;
D O I：
10.1007/s10514-006-5204-6
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force. In order to enhance the ability of our robot to adapt to the environment, in this study we investigate the creeping locomotion of a snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of the snake-like robot on a slope, and the environmentally-adaptable body shape for our robot is also derived through this simulator.
引用
收藏
页码：15 / 23
页数：9
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