An amphibious snake-like robot with novel gaits on ground and in water
文献类型：会议论文
| 作者 | Li B(李斌) ; Yu SM(郁树梅); Ma SG(马书根); Wang YC(王越超)
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| 出版日期 | 2011 |
| 会议名称 | 13th IASTED International Conference on Intelligent Systems and Control, ISC 2011 |
| 会议日期 | July 11-13, 2011 |
| 会议地点 | Cambridge, United kingdom |
| 关键词 | Flight control systems Intelligent systems |
| 页码 | 100-105 |
| 中文摘要 | Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control system of the robot are illustrated. A simplified Serpenoid Curve is used to generate the basic undulation of the robot. Three-dimensional gaits are generated by combining undulations of the robot on the horizontal and vertical planes. Novel gaits are found, including a S-shape rolling gait on the ground and a diving gait in the water. Experiments have been done to validate the gaits and show the performances of the gaits under different control parameters. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | Int. Assoc. Sci. Technol. Dev. (IASTED) -; Tech. Comm. Control; Int. Assoc. Sci. Technol. Dev. (IASTED) -; Tech. Comm. Intelligent Syst. Control |
| 会议录 | Proceedings of the IASTED International Conference on Intelligent Systems and Control
 |
| 会议录出版者 | Acta Press |
| 会议录出版地 | Calgary, AB |
| 语种 | 英语 |
| ISSN号 | 1025-8973 |
| ISBN号 | 978-0-88986-889-2 |
| 源URL | [http://ir.sia.cn/handle/173321/8558]  |
| 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 | Li B,Yu SM,Ma SG,et al. An amphibious snake-like robot with novel gaits on ground and in water[C]. 见:13th IASTED International Conference on Intelligent Systems and Control, ISC 2011. Cambridge, United kingdom. July 11-13, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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