Development of a 3D snake-like robot: Perambulator-II
文献类型：会议论文
| 作者 | Ye ZL(叶长龙); Ma SG(马书根) ; Li B(李斌); Liu HJ(刘红军); Wang, Hequan
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 5-8, 2007 |
| 会议地点 | Harbin, China |
| 关键词 | snake-like robot mechanism serpentine locomotion shell shape |
| 页码 | 117-122 |
| 中文摘要 | Snake-like robots exhibited more advantages than conventional mobile robots on environment adaptation. They almost can move in most ill conditions including rough terrain, desert, water, cave and tree. In this paper, a 3D snake-like robot called Perambulator-II (Shenyang Institute of Automation Snake-like robot 11) is developed with the acquirement of powerful propulsion and high mobility. The unit of snake-like robot Perambutator-II robot named as Modular Universal Unit (MUU) is introduced, which behaves three DOFs with a series of passive rollers around its cylinder body. Also, some considerations on mechanism design of snake-like robots are presented. And the shell shape of 3D snake-like robot according to mobility is discussed in detail. The locomotion of Perambulator-H is presented for test its performance. The experimental results ire given to validate the mobility of the snake-like robot Perambulator-II. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Natl Nat Sci Fdn China, Minist Educ China, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Univ Electro Commun, Univ Elect Sci & Technol China, Changchu Univ Sci & Technol, Beijing Univ Technol, IEEE Hong Kong Sect Joint RACS Chapter |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0827-6 |
| WOS记录号 | WOS:000251178100020 |
| 源URL | [http://ir.sia.cn/handle/173321/8650]  |
| 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 | Ye ZL,Ma SG,Li B,et al. Development of a 3D snake-like robot: Perambulator-II[C]. 见:IEEE International Conference on Mechatronics and Automation. Harbin, China. August 5-8, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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