Published May 1993
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A "Sidewinding" Locomotion Gait for Hyper-Redundant Robots
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.
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.Attached Files
Published - BURicra93.pdf
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Additional details
Identifiers
- Eprint ID
- 29635
- Resolver ID
- CaltechAUTHORS:20120307-160723869
Funding
- NSF
- MSS-901779
- NSF
- MSS-9157843
- Office of Naval Research (ONR)
- N00014-92-J-1920
Dates
- Created
-
2012-03-12Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field