Multi-thread based synchronization of locomotion control in snake robots

被引：6
|
作者：
Rai, L [1 ]
Kang, SJ [1 ]
机构：
[1] Kyungpook Natl Univ, Sch EECS, Taejon, South Korea
来源：
11TH IEEE INTERNATIONAL CONFERENCE ON EMBEDDED AND REAL-TIME COMPUTING SYSTEMS AND APPLICATIONS, PROCEEDINGS | 2005年
关键词：
D O I：
10.1109/RTCSA.2005.62
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present an approach to control the locomotion of snake robot with concurrent programming model constructed using threads and semaphores. The multi-thread based concurrent programming model adds the flexibility to design and synchronize the movement of snake robots as compared with microcontroller and mechanical based approaches. We have designed a physical snake robot using LEGO sensors and actuator blocks and the wave motion of the snake robot is generated by multi-thread based concurrent programming under RT-Linux. The different robot movements in a desired direction along with different types of snake movements are achieved using angle sensors.
引用
收藏
页码：559 / 562
页数：4
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