期刊论文详细信息
International Journal of Advanced Robotic Systems
Gait, Stability and Movement of Snake-Like Robots
关键词: Modular Robots;    Central Pattern Generator;    Snake Robot;    Locomotion;    Gait;   
DOI  :  10.5772/53627
学科分类:自动化工程
来源: InTech
PDF
【 摘 要 】

This paper provides theoretical analysis of some key features of snake-like robot locomotion. Inspired by the moving mechanism of animals, the snake robot built with simple modules is numerically controlled. A most common method for its locomotion is to apply a central pattern generator to efficiently generate the control signals of gait and movement. This paper analyses stability, crawling gait, moving velocity, climbing capability, the capability to cross ditches and avoid obstacles, etc. Mathematical models and simulations show the theoretical validity and robot capabilities.

【 授权许可】

CC BY   

【 预 览 】
附件列表
Files Size Format View
RO201902189003231ZK.pdf 385KB PDF download
  文献评价指标  
  下载次数:16次 浏览次数:11次