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Influence of the gradient of a slope on optimal locomotion curves of a snake-like robot

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Abstract:

Snakes perform many kinds of movement adapted to different environments. Utilizing the snake as a model, we have developed a two-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally while adapting to the slope of the environment, in this study we discuss the influence of the gradient of a slope on the creeping locomotion of the robot and derive optimal creeping locomotion curves that adapted to the given slopes.

Keywords: CREEPING LOCOMOTION; SLOPE ADAPTATION; SNAKE-LIKE ROBOT; SYMMETRICAL CURVE; UNSYMMETRICAL CURVE

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855306776562279

Publication date: April 1, 2006

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