Skip to main content

Analysis of creeping locomotion of a snake-like robot

Buy Article:

$59.35 plus tax (Refund Policy)

Abstract:

Snakes perform many kinds of movement adapted to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot, that performs the snake's function, is important for generating a new type of locomotion and expanding the possible uses of robots. In this study, we developed a simulator to simulate the creeping locomotion of the snake-like robot, in which the robot dynamics is modeled and the interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze creeping locomotion with normaldirection slip, adding to the glide along the tangential direction. Through the developed simulator, we investigate the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side and discuss the optimal creeping locomotion of the snake-like robot that is adapted to the environment.

Keywords: CREEPING LOCOMOTION; ENVIRONMENT ADAPTATION; NORMAL-DIRECTION SLIP; SNAKE; SNAKE-LIKE ROBOT

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/15685530152116236

Affiliations: Department of Systems Engineering, Ibaraki University, Faculty of Engineering, 4-12-1 Nakanarusawa, Hitachi 316-8511, Japan

Publication date: June 1, 2001

tandf/arb/2001/00000015/00000002/art00007
dcterms_title,dcterms_description,pub_keyword
6
5
20
40
5

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more