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

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