Analysis of creeping locomotion of a snake-like robot on a slope
Analysis of creeping locomotion of a snake-like robot on a slope
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DOI：
10.1007/s10514-006-5204-6
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发表时间：
2006-01-01
影响因子：
3.5
通讯作者：
Tadokoro, N
中科院分区：
文献类型：
--
作者：
Ma, SG;Tadokoro, N
生物蛇的不同运动模式和生理使它们非常适应环境。为了模拟这些蛇的显著特征，我们开发了一种没有向前方向驱动力的蛇形机器人。为了提高机器人对环境的适应能力，本文研究了蛇形机器人在斜坡上的爬行运动。建立了蛇形机器人在斜坡上爬行运动的计算机模拟器，并通过该模拟器得到了蛇形机器人适应环境的体形。
The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force. In order to enhance the ability of our robot to adapt to the environment, in this study we investigate the creeping locomotion of a snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of the snake-like robot on a slope, and the environmentally-adaptable body shape for our robot is also derived through this simulator.