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

页码：559 / 562

页数：4

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