ICRA'09 Paper Abstract


Paper FrB11.1

Tanaka, Motoyasu (The Univ. of Electro-Communications), Matsuno, Fumitoshi (The University of Electro-Communications)

A Study on Sinus-Lifting Motion of a Snake Robot with Switching Constraints

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots - II" (FrB11), Friday, May 15, 2009, 10:30−10:50, 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, Dynamics


In this paper, we consider ``sinus-lifting motion'' which is the effective motion of a snake for rapid movement consisting of lifting some parts of its body off the ground, and switching the lifted and grounded parts dynamically. This motion is analyzed based on control theory. We focus on the constraint force of passive wheels and switching of grounded parts of the snake robot to minimize the constraint force. Simulations show that the motion that minimizes the constraint force of the snake robot is similar to the sinus-lifting motion in appropriate amplitudes and periods of the body shape.



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