Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control

被引：22

作者：

Liljeback, Pal ^{[1
,2
]}

Stavdahl, Oyvind ^{[2
]}

Pettersen, Kristin Y. ^{[2
]}

机构：

[1] SINTEF, ICT, Dept Appl Cybernet, N-7465 Trondheim, Norway

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

来源：

MODELING IDENTIFICATION AND CONTROL | 2008年 / 29卷 / 01期

关键词：

Snake robot; kinematics; dynamics;

D O I：

10.4173/mic.2008.1.2

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 gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait patterns. Two forms of locomotion have been simulated with the mathematical model, and experiments with the physical snake robot have been conducted. The simulation results revealed the parameter through which directional control may be achieved for each gait pattern. Experiments with the physical snake robot gave a crude qualitative verification of these findings.*

引用

页码：21 / 28

页数：8

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