Design and Analysis of Snake Robots with Binary Actuators

摘要：

Thanks to the special physical architectures and various locomotion gaits, snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of scenarios. In this paper, the disadvantages of current snake robots are summarized and an innovative snake robot with binary actuators is proposed. The snake robot with binary actuators adopts digitally-actuated Stewart Platform as its module. It possesses a highly redundant DOF while at the same time enjoying straightforward control. The mechanical structure and pneumatic actuation are elaborated in the paper. The mobility of the snake robot is illustrated by several simulations of snake gaits.

关键词： Binary actuators Redundant Snake robots Stewart platform

作者: MIAO Yunjie GAO Feng ZHANG Yong

作者单位: College of Mechanical Engineering, Shanghai JiaoTong University, Shanghai , 200240

会议类型: 国内会议

会议名称: 2012中国机构与机器科学国际会议

会议地点: 黄山

会议语种:英文

页码: 1-5

在线出版日期: 2012-07-13（万方平台首次上网日期，不代表论文的发表时间）