An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water
This paper presents an amphibious snake-like robots design and its omnipotent locomotion ability both on the land and in the water. This amphibious snake-like robot, mainly composed by 9 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. In this paper, we concentrate on the gait diversity of the amphibious snake-like robot. Due to its special joint design and the feature of being densely covered by vanes, the robot is endowed with an omnipotent ability of amphibious locomotion. Besides the traditional fundamental gaits, the robot displays unheard-of gaits like S-shape rolling and helical rolling, which all have important influences on the robots traversing ability and control of position and posture. We still use a simplified Serpenoid Curve to deduce the control equations for each gait, but have new discoveries on gait generation method and traits of the robots diverse locomotion. Experimental results show all gaits of the amphibious snake-like robot.
Snake-like robot Amphibious Locomotion Serpenoid Curve
Shumei Yu Shugen Ma Bin Li Yuechao Wang
State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences Shenya
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
500-505
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）