Climbing with snake-like robots

被引：0
|
作者：
Yim, M [1 ]
Homans, S [1 ]
Roufas, K [1 ]
机构：
[1] Xerox Corp, Palo Alto Res Ctr, Palo Alto, CA 94304 USA
来源：
MOBILE ROBOT TECHNOLOGY, PROCEEDINGS | 2001年
关键词：
modular; self-reconfigurable; robot control; finite state machine; configuration;
D O I：
暂无
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 presents an implementation of a long serial chain robot that can climb stairs in a "snake-biting-its-tail" loop form, climb up ramps using a travelling wave gait and by adding small spikes or cleats it can also climb near vertical porous materials. The gaits are controlled with a gait control table which is a simple but powerful way to coordinate the motion of many degrees of freedom. The gaits are implemented on PolyBot G1v4, a self-sufficient modular reconfigurable robot with onboard power, computation, sensors and actuators. Copyright (C) 2001 IFAC.
引用
收藏
页码：7 / 12
页数：6
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