ICRA'09 Paper Abstract


Paper FrD11.5

Kamegawa, Tetsushi (Okayama University), Harada, Takaaki (Okayama University), Gofuku, Akio (Okayama University)

Realization of Cylinder Climbing Locomotion with Helical Form by a Snake Robot with Passive Wheels

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots - IV" (FrD11), Friday, May 15, 2009, 16:50−17:10, Room: 503

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Biologically-Inspired Robots, Biomimetics, Cellular and Modular Robots


Recently, multiple locomotion gaits of snake have been realized by snake robots. However, previous locomotion gaits are mainly limited on two-dimensional plane. In this study, we make a snake robot that can move in three-dimensional space by connecting several units serially. The each unit is composed by assembling one pitch axis and one yaw axis, and it can have two passive wheels. We realize previously achieved basic locomotion gaits and simple cylinder climbing locomotion. In addition, we also realize cylinder climbing locomotion with helical form by the snake robot using mathematical continuum model.



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