Toroidal skin drive for snake robot locomotion

被引：40

作者：

McKenna, James C. ^{[1
]}

Anhalt, David J. ^{[1
]}

Bronson, Frederick M. ^{[1
,2
]}

Ben Brown, H. ^{[3
]}

Schwerin, Michael ^{[3
]}

Shammas, Elie ^{[3
]}

Choset, Howie ^{[3
]}

机构：

[1] SAIC, Intelligent Syst Applicat Div, Englewood, CO 80112 USA

[2] Leitner Poma Amer Inc, Grand Junction, CO 80501 USA

[3] Carnegie Mellon Univ, Pittsburgh, PA 15213 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543359

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Small robots have the potential to access confined spaces where humans cannot go. However, the mobility of wheeled and tracked systems is severely limited in cluttered environments. Snake robots using biologically inspired gaits for locomotion can provide better access in many situations, but are slow and can easily snag. This paper introduces an alternative approach to snake robot locomotion, in which the entire surface of the robot provides continuous propulsive force to significantly improve speed and mobility in many environments.

引用

页码：1150 / +

页数：2

共 50 条

[21] Locomotion Patterns based on a CPG Model of Snake Robot
Hu, Wei-Jian
Zhao, Lan-Ying
Yan, Jun-Li
Li, Jin-Xiao
Wang, Zhe-Long
PROCEEDINGS OF THE 3RD ANNUAL INTERNATIONAL CONFERENCE ON MECHANICS AND MECHANICAL ENGINEERING (MME 2016), 2017, 105 : 588 - 593
[22] Research on the locomotion mechanism of snake-like robot
Liu, H
Yan, GZ
Ding, GQ
MHS2001: PROCEEDINGS OF THE 2001 INTERNATIONAL SYMPOSIUM ON MICROMECHATRONICS AND HUMAN SCIENCE, 2001, : 183 - 188
[23] Adaptive snake robot locomotion: A benchmarking facility for experiments
INTEF ICT, N-7465 Trondheim, Norway
Springer Tracts Adv. Rob., 2008, (13-22): : 13 - 22
[24] Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot
Vespignani, Massimo
Melo, Kamilo
Bonardi, Stephane
Ijspeert, Auke J.
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 2238 - 2245
[25] LOCOMOTION OF A MULTI-LINK NONHOLONOMIC SNAKE ROBOT
Dear, Tony
Kelly, Scott David
Travers, Matthew
Choset, Howie
PROCEEDINGS OF THE ASME 10TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2017, VOL 2, 2017,
[26] An implicit model for snake robot locomotion and gait optimization
Nirakh, Appa Rao
Brennan, Sean N.
Gandhi, Farhan S.
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2005, PTS A AND B, 2005, : 1733 - 1742
[27] Analysis of creeping locomotion of a snake-like robot
Ma, SG
ADVANCED ROBOTICS, 2001, 15 (02) : 205 - 224
[28] Locomotion control of a novel snake-like robot
Ye, C. (clye@sia.ac.cn), 2004, Institute of Electrical and Electronics Engineers, IEEE; Robotics Society of Japan, RSJ (Institute of Electrical and Electronics Engineers Inc.):
[29] Controllability and Stability Analysis of Planar Snake Robot Locomotion
Liljeback, Pal
Pettersen, Kristin Y.
Stavdahl, Oyvind
Gravdahl, Jan Tommy
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2011, 56 (06) : 1365 - 1380
[30] Snake robot movement in the pipe using concertina locomotion
Technical University of Košice, Department of Applied Mechanics and Mechatronics, Letná 9, 042 00 Košice, Slovakia
不详
不详
Virgala, I. (ivan.virgala@tuke.sk), 1600, Trans Tech Publications Ltd (611):

← 1 2 3 4 5 →