Dynamical Analysis of Sidewinding Locomotion by a Snake-Like Robot

被引：0
|
作者：
Ariizumi, Ryo [1 ]
Matsuno, Fumitoshi [1 ]
机构：
[1] Kyoto Univ, Dept Mech Engn & Sci, Grad Sch Engn, Nishikyo Ku, Kyoto 6158540, Japan
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2013年
关键词：
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：
In this paper, a dynamical analysis of sidewinding locomotion by a snake like robot is presented. Sidewinding locomotion is treated as a planar movement for simplicity, and the normal forces acting on the grounded links and the torques applied on pitch joints are calculated by solving equilibrium equations. Energy efficiency of sidewinding locomotion is compared with that of lateral undulation. Simulation results show that the sidewinding locomotion is, generally, energetically more efficient, and in the case where the viscous coefficient is small, there is a lower bound in the mean velocity of center of mass for sidewinding locomotion to be more efficient than lateral undulation.
引用
收藏
页码：5149 / 5154
页数：6
相关论文
共 50 条
  • [41] CPG-controlled Asymmetric Locomotion of a Snake-like Robot for Obstacle Avoidance
    Wu, Xiaodong
    Ma, Shugen
    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 69 - 74
  • [42] Influence of inclining angle of a slope to optimal locomotion curves of a snake-like robot
    Ma, SG
    Tadokoro, N
    Inoue, K
    Li, B
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, 2003, : 353 - 358
  • [43] Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer
    Nansai, Shunsuke
    Yamato, Takumi
    Iwase, Masami
    Itoh, Hiroshi
    APPLIED SCIENCES-BASEL, 2019, 9 (19):
  • [44] Locomotion of a snake-like robot controlled by the bidirectional cyclic inhibitory CPG model
    Lu, Zhenli
    Ma, Shugen
    Li, Bin
    Wang, Yuechao
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1209 - +
  • [45] Emergent intelligent properties of evolving and adapting snake-like robot's locomotion
    Tanev, I
    SOFT COMPUTING AS TRANSDISCIPLINARY SCIENCE AND TECHNOLOGY, 2005, : 641 - 652
  • [46] Decentralized Control of Multi-articular Snake-like Robot for Efficient Locomotion
    Kano, Takeshi
    Sato, Takahide
    Kobayashi, Ryo
    Ishiguro, Akio
    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011,
  • [47] Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model
    Lu, ZL
    Ma, SG
    Li, B
    Wang, YC
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 3019 - 3024
  • [48] Twist-related locomotion of a 3D snake-like robot
    Ye, CL
    Ma, SG
    Li, B
    Wang, YC
    IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2004, : 589 - 594
  • [49] Dynamical Modelling and Control of Snake-like Motion in Vertical Plane for Locomotion in Unstructured Environments
    Koopaee, Mohammadali Javaheri
    Pretty, Christopher
    Classens, Koen
    Chen, XiaoQi
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2019, VOL 9, 2019,
  • [50] Passive Creeping of a Snake-like Robot
    Wang, Zhifeng
    Ma, Shugen
    Li, Bin
    Wang, Yuechao
    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 57 - 62
12345