Dynamic manipulability of a snake-like robot and its effect for sinus-lifting motion

Proceedings of the SICE Annual Conference

Volumn , Issue , 2004, Pages 1335-1340

  Tsuda, Masashi ^a   Nakaura, Shigeki ^b   Sampei, Mitsuji ^b  

^a KYOCERA CORPORATION   (Japan)

^b TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Dynamic manipulability; Mass distribution; Sinus lifting motion; Snake like robot

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; EQUATIONS OF MOTION; MATRIX ALGEBRA; MOTION CONTROL; SET THEORY;

DYNAMIC MANIPULABILITY; MASS DISTRIBUTION; SINUS-LIFTING MOTION; SNAKE-LIKE ROBOTS;

MOBILE ROBOTS;

EID: 12744274777     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

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3. P. Prautsch and T. Mita. Control and Analysis of the Gait of Snake Robots. Proc. of Int. Conf. on Control Applications, pp. 502-507, 1999.
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5. H. Date, Y. Hoshi and M. Sampei. Locomotion Control of a Snake-like Robot based on Dynamic Manipulability, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol. 3, pp. 2236-2241, 2000.
6. E. P. Fukushima, and S. Hirose. A Computed Torque Method Based Attitude Control with Optimal Force Distribution for Articulated Body Mobile Robots. J. of the Robotics Society of Japan, Vol. 18, No. 4, pp. 576-583, 2000.