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Gait kinematics for a serpentine robot

Ostrowski, Jim and Burdick, Joel (1996) Gait kinematics for a serpentine robot. In: Proceedings of 1996 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1294-1299. ISBN 0-7803-2988-0.

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This paper considers the problem of serpentine, or snake-like, locomotion from the perspective of geometric mechanics. A particular model based on Hirose's active cord mechanism is analyzed. Using the kinematic constraints, we develop a connection, which describes the net motion of the machine as a function of variations in the mechanism's shape variables. We present simulation results demonstrating three types of locomotive gaits, one of which bears an obvious resemblance to the serpentine motion of a snake. We also discuss how these algorithms can be used to optimize certain inputs given the particular choice of physical parameters for a snake robot.

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Additional Information:© 1996 IEEE.
Record Number:CaltechAUTHORS:20190612-145825000
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Official Citation:J. Ostrowski and J. Burdick, "Gait kinematics for a serpentine robot," Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, 1996, pp. 1294-1299 vol.2. doi: 10.1109/ROBOT.1996.506885
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96343
Deposited By: Tony Diaz
Deposited On:13 Jun 2019 16:35
Last Modified:16 Nov 2021 17:20

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