Analysis of helical gait of a snake-like robot

Document Type

Conference Proceeding

Publication Date

9-30-2008

Abstract

This paper presents our work on analysis of helical gait for snake-like robots. Although helical gait of snake-like robots was realized before, there is no any intensive investigation about the relationship between its performance and the control parameter settings. In this paper, we firstly introduce our SIA snake-like robot and its helical gait equations, then derive the snake-like robot's body shape which is used for control, finally perform some comparative experiments to pursue the characteristics of the helical gait. © 2008 IEEE.

Publication Source (Journal or Book title)

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

First Page

1183

Last Page

1188

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