Dynamical analysis of sidewinding locomotion by a snake-like robot
Dynamical analysis of sidewinding locomotion by a snake-like robot
复制标题
蛇形机器人侧绕运动动力学分析
DOI：
10.1109/icra.2013.6631313
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
F. Matsuno
中科院分区：
文献类型：
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作者：
Ryo Ariizumi;F. Matsuno
本文对蛇形机器人侧绕运动进行了动力学分析。为简化计算，将侧绕运动视为平面运动，通过求解平衡方程计算了作用在接地杆上的法向力和作用在俯仰关节上的力矩。比较了侧绕运动和横向波动运动的能量效率。仿真结果表明，侧绕运动通常在能量上更有效，并且在粘性系数较小的情况下，侧绕运动比横向波动运动更有效的质心平均速度存在一个下限。
In this paper, a dynamical analysis of sidewinding locomotion by a snake like robot is presented. Sidewinding locomotion is treated as a planar movement for simplicity, and the normal forces acting on the grounded links and the torques applied on pitch joints are calculated by solving equilibrium equations. Energy efficiency of sidewinding locomotion is compared with that of lateral undulation. Simulation results show that the sidewinding locomotion is, generally, energetically more efficient, and in the case where the viscous coefficient is small, there is a lower bound in the mean velocity of center of mass for sidewinding locomotion to be more efficient than lateral undulation.
DOI：
10.1109/iros.2004.1389445
发表时间：
2004-09
期刊：
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
影响因子：
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作者：
Shugen Ma;Y. Ohmameuda;K. Inoue
通讯作者：
Shugen Ma;Y. Ohmameuda;K. Inoue
DOI：
10.1109/robot.2009.5152837
发表时间：
2009-05
期刊：
2009 IEEE International Conference on Robotics and Automation
影响因子：
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作者：
Hiroya Yamada;S. Hirose
通讯作者：
Hiroya Yamada;S. Hirose