Published April 1996
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Gait kinematics for a serpentine robot
- Creators
- Ostrowski, Jim
- Burdick, Joel
Abstract
This paper considers the problem of serpentine, or snake-like, locomotion from the perspective of geometric mechanics. A particular model based on Hirose's active cord mechanism is analyzed. Using the kinematic constraints, we develop a connection, which describes the net motion of the machine as a function of variations in the mechanism's shape variables. We present simulation results demonstrating three types of locomotive gaits, one of which bears an obvious resemblance to the serpentine motion of a snake. We also discuss how these algorithms can be used to optimize certain inputs given the particular choice of physical parameters for a snake robot.
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© 1996 IEEE.Attached Files
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