Design and modelling of a snake robot in traveling wave locomotion
文献类型：期刊论文
| 作者 | Chen L(陈丽); Ma SG(马书根) ; Wang YC(王越超); Li B(李斌); Duan, Dengping
|
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2007 |
| 卷号 | 42期号:12页码:1632-1642 |
| 关键词 | snake robot traveling wave locomotion body shape control kinematics dynamics environment constraints |
| ISSN号 | 0094-114X |
| 产权排序 | 2 |
| 中文摘要 | In this paper starting with the model, simulation and finishing with experiment, a systematic complete description of traveling wave locomotion is presented. The dynamic effects and a detailed model of the friction between the mechanism and the ground are described. And the relationship between the driving forces with the body shape and joint torques are established. The simulation results present the regularity of the joint torques during traveling wave locomotion. The effects of the initial winding angle and friction coefficient on the joint input torques are also depicted. The traveling wave locomotion was achieved in a snake robot. The experiments validated some simulation results and proved that the established kinematics and dynamics of snake robot are reasonable. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Mechanical |
| 研究领域[WOS] | Engineering |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000251351000005 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7334]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chen L,Ma SG,Wang YC,et al. Design and modelling of a snake robot in traveling wave locomotion[J]. MECHANISM AND MACHINE THEORY,2007,42(12):1632-1642. |
| APA | Chen L,Ma SG,Wang YC,Li B,&Duan, Dengping.(2007).Design and modelling of a snake robot in traveling wave locomotion.MECHANISM AND MACHINE THEORY,42(12),1632-1642. |
| MLA | Chen L,et al."Design and modelling of a snake robot in traveling wave locomotion".MECHANISM AND MACHINE THEORY 42.12(2007):1632-1642. |
入库方式： OAI收割
来源：沈阳自动化研究所
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