A review on modelling, implementation, and control of snake robots

被引：190

作者：

Liljeback, P. ^{[1
,2
]}

Pettersen, K. Y. ^{[1
]}

Stavdahl, O. ^{[1
]}

Gravdahl, J. T. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Dept Engn Cybernet, NO-7491 Trondheim, Norway

[2] SINTEF ICT, NO-7465 Trondheim, Norway

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2012年 / 60卷 / 01期

关键词：

Snake robots; Review; Modelling; Implementation; Control; SIDEWINDING LOCOMOTION; CREEPING LOCOMOTION; MOTION; SIMULATIONS; KINEMATICS; STABILITY; MECHANICS; DESIGN; DRIVE; BODY;

D O I：

10.1016/j.robot.2011.08.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：29 / 40

页数：12

共 137 条

[1] Control of a snake-like robot in an elastically deformable channel [J].