Experimental study of passive creeping for a snake-like robot
Document Type
Conference Proceeding
Publication Date
7-11-2011
Abstract
The control of a snake-like robot is a challenging problem because of unknown environments and complex dynamics. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. In the paper, we present a hypothesis that the energy state of the robot can influence the locomotor adaptation. And then we lay emphasis on experiments in order to test the hypothesis and validate the passive creeping. A locomotion experiment and a drag experiment demonstrate the adaptability of the passive creeping to variable environments and different dynamics (or payloads), respectively. In the experiments, an optical motion capture system is used to obtain the kinetic energy information of the snake-like robot in real time. © 2011 IEEE.
Publication Source (Journal or Book title)
2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
First Page
382
Last Page
387
Recommended Citation
Wang, Z., Ma, S., Li, B., & Wang, Y. (2011). Experimental study of passive creeping for a snake-like robot. 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011, 382-387. https://doi.org/10.1109/ICCME.2011.5876769