Ladder Climbing with a Snake Robot

被引：0
|
作者：
Takemori, Tatsuya [1 ]
Tanaka, Motoyasu [2 ]
Matsuno, Fumitoshi [1 ]
机构：
[1] Kyoto Univ, Grad Sch Engn, Dept Mech Engn & Sci, Kyoto 6068501, Japan
[2] Univ Electrocommun, Dept Mech & Intelligent Syst Engn, Tokyo 1828585, Japan
来源：
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2018年
关键词：
GAITS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a method that allows a snake robot to climb a ladder. We propose a ladder climbing method for a snake robot that has a smooth surface shape. We design a novel gait for the snake using a gait design method that configures the target form of the snake robot by connecting simple shapes. The climbing motion is executed via shift control and the corresponding motion required to catch the next step on the ladder. In addition, we developed a snake robot that has a smooth exterior body surface through construction of pectinate-shaped parts of the links. We demonstrated the effectiveness of both the proposed gait and the design of the snake robot experimentally.
引用
收藏
页码：8140 / 8145
页数：6
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