Head-raising motion of snake-like robots
文献类型：会议论文
| 作者 | Ye ZL(叶长龙); Ma SG(马书根) ; Li B(李斌); Wang YC(王越超)
|
| 出版日期 | 2004 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2004) |
| 会议日期 | August 22-26, 2004 |
| 会议地点 | Shenyang, China |
| 关键词 | snake-like robot serpentine input function head-raising motion ZMP |
| 页码 | 595-600 |
| 中文摘要 | To acquire more environmental information for planning further tasks, the snake-like robot has to raise its head to observe the situation at a high position due to its low-height stature, which resembles the head-raising motion of the natural snake. In this paper, the motion of snake-like robot raising head is realized by improving the serpentine input function, and two methods of head raising motion were proposed. The dynamic model of head-raising motion is built to analyze the input torque of each joint for getting optimal dynamic performance. Comparative results of two methods of head-raising motion are shown by computer simulations, and the stability of motion is analyzed by means of ZMP(Zero Moment Point) method. The experimental results show the validity of the presented methods. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone |
| 会议录 | IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-8641-8 |
| WOS记录号 | WOS:000234343000106 |
| 源URL | [http://ir.sia.cn/handle/173321/8728]  |
| 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. Head-raising motion of snake-like robots[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2004). Shenyang, China. August 22-26, 2004. |
入库方式： OAI收割
来源：沈阳自动化研究所
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