Name
Abstract | ||
|---|---|---|
A non-smooth 3D mathematical model of the dynamics of a snake robot (without wheels) is developed in this paper. The model is based on the framework of non-smooth dynamics and convex analysis which allows us to easily incorporate unilateral contact forces and friction forces based on Coulomb's law of dry friction. Impact and stick-slip transitions are modeled as instantaneous. A numerical integrator on impulse-velocity level, the time-stepping method, is used for simulation, which helps avoid an explicit switch between equations of motion during simulation. Numerical results are presented for a snake robot with 26 degrees of freedom and 22 possible contact points along its body. Simulation results of the snake motion pattern 'lateral undulation' are shown. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBIO.2006.340096 | 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 |
Keywords | Field | DocType |
non-smooth dynamics, 3D snake robot | Undulatory locomotion,Control theory,Integrator,Impulse (physics),Unilateral contact,Control engineering,Engineering,Equations of motion,Robot,Mobile robot,Convex analysis | Conference |
Citations | PageRank | References |
11 | 1.45 | 5 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Aksel Andreas Transeth | 1 | 62 | 7.17 |
| Remco I. Leine | 2 | 37 | 5.27 |
| Christoph Glocker | 3 | 28 | 4.64 |
| Kristin Ytterstad Pettersen | 4 | 402 | 42.59 |