An amphibious snake-like robot with novel gaits on ground and in water
Document Type
Conference Proceeding
Publication Date
11-9-2011
Abstract
Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control system of the robot are illustrated. A simplified Serpenoid Curve is used to generate the basic undulation of the robot. Three-dimensional gaits are generated by combining undulations of the robot on the horizontal and vertical planes. Novel gaits are found, including a S-shape rolling gait on the ground and a diving gait in the water. Experiments have been done to validate the gaits and show the performances of the gaits under different control parameters.
Publication Source (Journal or Book title)
Proceedings of the IASTED International Conference on Intelligent Systems and Control
First Page
100
Last Page
105
Recommended Citation
Li, B., Yu, S., Ma, S., & Wang, Y. (2011). An amphibious snake-like robot with novel gaits on ground and in water. Proceedings of the IASTED International Conference on Intelligent Systems and Control, 100-105. https://doi.org/10.2316/P.2011.744-061