TY - GEN
T1 - A simulator to analyze creeping locomotion of a snake-like robot
AU - Ma, S.
AU - Li, W. J.
AU - Wang, Y.
PY - 2001
Y1 - 2001
N2 - Snakes perform many kinds of movement that are adaptable to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot that emulates a snakes' function is important for generating a new type of locomotor and expanding the possible use of robots. In this study, we developed a simulator to simulate the creeping locomotion of a snake-like robot, in which the robot dynamics is modeled and its interaction with the environment is considered through Coulomb friction. This simulator makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Through the developed simulator, we investigated the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side, and discussed the optimal creeping locomotion of the snake-like robot that is adaptable to a given environment.
AB - Snakes perform many kinds of movement that are adaptable to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot that emulates a snakes' function is important for generating a new type of locomotor and expanding the possible use of robots. In this study, we developed a simulator to simulate the creeping locomotion of a snake-like robot, in which the robot dynamics is modeled and its interaction with the environment is considered through Coulomb friction. This simulator makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Through the developed simulator, we investigated the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side, and discussed the optimal creeping locomotion of the snake-like robot that is adaptable to a given environment.
UR - https://www.scopus.com/pages/publications/0034868844
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0034868844&origin=recordpage
U2 - 10.1109/ROBOT.2001.933186
DO - 10.1109/ROBOT.2001.933186
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 780365763
VL - 4
SP - 3656
EP - 3661
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2001 IEEE International Conference on Robotics and Automation (ICRA 2001)
Y2 - 21 May 2001 through 26 May 2001
ER -