Mechanism design and locomotion of a snake robot
文献类型：会议论文
| 作者 | Gao Q(高琴); Wang ZL(王哲龙); Shang H(尚红); Hu WJ(胡卫建); Jiang M(姜鸣) |
| 出版日期 | 2012 |
| 会议名称 | 12th International Conference on Intelligent Autonomous Systems, IAS 2012 |
| 会议日期 | June 26-29, 2012 |
| 会议地点 | Jeju Island, Korea, Republic of |
| 关键词 | Machine design Serpentine |
| 页码 | 731-738 |
| 中文摘要 | As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. In the paper, a snake-like robot based on cylinder module is developed. The robot prototype consists of eleven modules that are connected by revolute joints. Each joint has two degrees of freedom and allows bending in two mutually orthogonal planes. The serpenoid curve is considered as the control law and control parameters of snake curve are chosen by simulation and adjusted after experiment. Experimental results of snake robot show that the gait based on serpentine curve is reasonable and controlled easily. © 2013 Springer-Verlag. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Heidelberg, Germany |
| 语种 | 英语 |
| ISSN号 | 2194-5357 |
| ISBN号 | 978-3-642-33931-8 |
| WOS记录号 | WOS:000313768300068 |
| 源URL | [http://ir.sia.cn/handle/173321/10506]  |
| 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 | Gao Q,Wang ZL,Shang H,et al. Mechanism design and locomotion of a snake robot[C]. 见:12th International Conference on Intelligent Autonomous Systems, IAS 2012. Jeju Island, Korea, Republic of. June 26-29, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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