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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. https://resolver.caltech.edu/CaltechAUTHORS:20120307-160723869

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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
https://doi.org/10.1109/ROBOT.1993.291864DOIArticle
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-J-1920.
Funders:
Funding AgencyGrant Number
NSFMSS-901779
NSFMSS-9157843
Office of Naval Research (ONR)N00014-92-J-1920
Record Number:CaltechAUTHORS:20120307-160723869
Persistent URL:https://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:03 Oct 2019 03:43

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