Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/978-3-642-33932-5_68 | INTELLIGENT AUTONOMOUS SYSTEMS 12 , VOL 2 |
Keywords | Field | DocType |
null | Search and rescue,Rescue robot,Simulation,Snake-arm robot,Redundancy (engineering),Revolute joint,Mechanism design,Serpentine curve,Engineering,Robot | Conference |
Volume | Issue | ISSN |
194 | VOL. 2 | 2194-5357 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Qin Gao | 1 | 0 | 0.68 |
| Zhelong Wang | 2 | 154 | 21.03 |
| Hong Shang | 3 | 1 | 2.71 |
| Weijian Hu | 4 | 1 | 1.80 |
| Ming Jiang | 5 | 34 | 1.38 |