Development of a snake-like robot

被引：0
|
作者：
Bezgovsek, Jure [1 ]
Grabec, Igor [1 ]
Muzic, Peter [1 ]
Govekar, Edvard [1 ]
机构：
[1] Univ Ljubljana, Fac Mech Engn, SI-1000 Ljubljana, Slovenia
来源：
STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING | 2008年 / 54卷 / 02期
关键词：
snake-like robots; control; serpentine windings; friction forces;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents the development of a robot that mimics the movement of a live snake. A prototype robot comprising six links was constructed. Torque actuators between the links modify the robot's shape. Anisotropic friction between the links and the ground generates the force that propels the robot. A control variable that determines actuator angles is used to achieve a wave-like body motion. The corresponding signal is transmitted over a radio link. Measurements of average velocity and trajectory of the robot were performed with different control parameters. Basic properties of the robot's movement are presented. (C) 2008 Journal of Mechanical Engineering. All rights reserved.
引用
收藏
页码：148 / 153
页数：6
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