Author:
Mori Makoto, ,Hirose Shigeo
Abstract
We discuss basic control strategies of a three-dimensional snake-like robot. Introduced strategies are composed of shifting and rolling, and their superimposing control. This paper clarified the generation of control commands for these movements and verified the feasibility of our proposal in experiments using the three-dimensional snake-like robot “ACM-R3”.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference14 articles.
1. S. Hirose, “Biologically Inspired Robots (Snake-like Locomotor and Manipulator),” Oxford University Press, 1987.
2. G. Endo, K. Togawa, and S. Hirose, “Study on self-contained and Terrain Adaptive Active Cord Mechanism,” Proc. of the IROS, pp. 1399-1405, 1999.
3. K. Togawa, M. Mori, and S. Hirose, “Study on Three-dimensional Active Cord Mechanism: Development of ACM-R2,” Proc. of the IROS, pp. 2242-2247, 2000.
4. M. Yim et al., “PolyBot: a Modullar Reconfigurable Robot,” Proc. of the ICRA, pp. 514-520, 2000.
5. K.-U. Scholl et al., “Controlling a Multijoint Robot for Autonomous Sewer Inspection,” Proc. of the ICRA, pp. 1701-1706, 2000.
Cited by
33 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献