Snake Robot Free Climbing

IEEE Control Systems

Volumn 18, Issue 1, 1998, Pages 21-26

  Nilsson, Martin ^a  

^a SWEDISH INSTITUTE OF COMPUTER SCIENCE   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DYNAMICS; MOTION CONTROL; POSITION CONTROL; TORQUE; UNIVERSAL JOINTS;

BODY SEGMENTS; JOINT PITCH RANGE; MASS CENTER; SNAKE ROBOT;

MOBILE ROBOTS;

EID: 0032001884     PISSN: 1066033X     EISSN: None     Source Type: Journal    
DOI: 10.1109/37.648623     Document Type: Article

References (11)

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3. D. Reznik and V. Lumelsky, “Motion Planning with Uncertainty for Highly Redundant Kinematic Structures: 1. ‘Free Snake’ Motion,” Proc. IEEE Int. Conf. on Robotics and Automation, Raleigh, NC, July 7-10, 1992, pp. 1747-1752.
4. G.S. Chirikjian and J.W. Burdick, “A Hyper-Redundant Manipulator,” IEEE Robotics & Automation Magazine, December 1994, pp. 22-29.
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9. E. Paljug, T. Ohm, and S. Hayati, “The JPL Serpentine Robot: A 12 DOF System for Inspection,” Proc. IEEE Int. Conf. Robotics and Automation, Philadelphia, PA, October 1995, pp. 3143-3148.
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11. M. Nilsson, “Ripple and Roll: Slip-Free Snake Robot Locomotion,” Proc. Mechatronic Computing for Perception and Action (MCPA'97), Pisa, Italy, February 1997, pp. 75-81.