Locomotion and coiling motion control of snakelike robot using pneumatic actuators

被引：0
|
作者：
Izu, H [1 ]
Date, H [1 ]
Shigeta, K [1 ]
Yamanaka, T [1 ]
Nakaura, S [1 ]
Sampei, M [1 ]
机构：
[1] Tokyo Inst Technol, Meguro Ku, Tokyo 152, Japan
来源：
SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 | 2002年
关键词：
snakelike robot; pneumatic actuator; locomotion; coiling motion;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with locomotion and coiling motion control experiments of a snakelike robot which has passive wheels and active joints. First, a new snakelike robot is shown. This robot has pneumatic actuators for its driving joints, that is more suitable for a coiling motion than electric motors and reduction gears. Then the motions have been realized experimentally applying feedback control to the robot.
引用
收藏
页码：1476 / 1480
页数：5
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