Fast and efficient locomotion of a snake robot based on self-excitation principle

International Workshop on Advanced Motion Control, AMC

Volumn , Issue , 2002, Pages 532-539

  Ute, Junji ^a   Ono, Kyosuke ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ANGULAR AMPLITUDE; ANIMAL LOCOMOTION; FRICTION FORCE; SNAKE ROBOTS;

BIPED LOCOMOTION; COMPUTER SIMULATION; FRICTION; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; OPTIMIZATION;

ROBOTS;

EID: 13944264580     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. S. Hirose, Biologically Inspired Robots (Snake-like Locomotor and Manipulator). Oxford University Press, 1993.
2. P. Pavel and T. Mita, "Control and Analysis of the Gait of Snake Robots," IEEE Conf. on Control Application, Aug. 26 1999, pp. 502-507.
3. F. Matsuno and K. Mogi, "Design and control of snake robots with redundancy based on Kinematic model," Proc. IEEE Conf. on Decision and Control, 2000, pp. 4791-4796.
4. Hisashi Date, Mitsuji Sampei and Shigeki Nakaura, "Control of a Snake Robot in Consideration of Constraint Force," Proceeding of the 2001 IEEE International Conference on Control Applications, 2001, pp 966-971.
5. S. Ma, "Analysis of creeping locomotion of a snake-like robot," Advanced Robotics, 15(2), 205/244, 2001.
6. K. Ono and T. Okada, "Self-Excited Vibratory Actuator (1st Report, Analysis of Two-Degree-of-Freedom Self-Excited System)," Trans. JSME(C), 60-577, pp.92-99, 1994. (In Japanese)
7. K. Ono and T. Okada, "Self-Excited Vibratory Actuator (3rd Report, Biped Walking Mechanism by Self-Excitation)," Trans. JSME(C), 60-579, pp.125-132, 1994. (In Japanese)
8. R. Takahashi, K. Ono and T. Shimada, "Self-Excited Walking of a Biped Walking Mechanism," International Journal of Robotics Research, 20(12), pp.953-966, 2001.