CaltechAUTHORS
  A Caltech Library Service

A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots

Burdick, J. W. and Radford, J. and Chirikjian, G. S. (1993) A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots. In: 1993 IEEE International Conference on Robotics and Automation. IEEE Computer Society Press , Los Alamitos, CA, pp. 101-106. ISBN 0-8186-3450-2 http://resolver.caltech.edu/CaltechAUTHORS:20120307-160723869

[img]
Preview
PDF - Published Version
See Usage Policy.

553Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20120307-160723869

Abstract

This paper considers the kinematics of a novel form of hyper-redundant mobile robot locomotion which is analogous to the 'sidewinding' locomotion of desert snakes. This form of locomotion can be generated by a repetitive travel wave of mechanism bending. Using a continuous backbone curve model, we develop algorithms which enable travel in a uniform direction as well as changes in direction.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.1993.291864DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=291864PublisherUNSPECIFIED
Additional Information:© 1993 IEEE. Issue Date: 2-6 May 1993; Meeting Date: 02 May 1993 - 06 May 1993. This work was supported by NSF grant MSS-901779, by NSF PYI award MSS-9157843, and by ONR Young Investigator Award N00014-92-5-1920.
Funders:
Funding AgencyGrant Number
NSFMSS-901779
NSF PYIMSS-9157843
Office of Naval Research (ONR) Young Investigator AwardN00014-92-5-1920
Other Numbering System:
Other Numbering System NameOther Numbering System ID
INSPEC Accession Number4690856
Record Number:CaltechAUTHORS:20120307-160723869
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20120307-160723869
Official Citation:Burdick, J.W.; Radford, J.; Chirikjian, G.S.; , "A `sidewinding' locomotion gait for hyper-redundant robots," Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on , vol., no., pp.101-106 vol.3, 2-6 May 1993 doi: 10.1109/ROBOT.1993.291864
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29635
Collection:CaltechAUTHORS
Deposited By: Jason Perez
Deposited On:12 Mar 2012 21:24
Last Modified:26 Dec 2012 14:55

Repository Staff Only: item control page