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Paper WeB110.4

Toyoshima, Satoshi (Kyoto University), Matsuno, Fumitoshi (Kyoto University)

A Study on Sinus-Lifting Motion of a Snake Robot with Energetic Efficiency

Scheduled for presentation during the Interactive Session "Interactive Session WeB-1" (WeB110), Wednesday, May 16, 2012, 10:30−11:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Biologically-Inspired Robots

Abstract

In this paper, we consider "sinus-lifting motion" which is an effective motion of a snake for rapid movement. In this motion, a snake lifts up some parts of its body from the ground, and switches the lifted parts dynamically. This motion is analyzed based on a dynamic model of an n-link snake robot. We introduce the energy efficiency as a cost function to generate motion of a snake robot. We propose a control strategy for switching grounded parts of the snake robot so as to minimize the energy consumption. Simulation results show that the motion that optimizes the energy efficiency of the snake robot differs depending on the velocity to be generated and the optimal motion is similar to the sinus-lifting motion.

 

 

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