Non-smooth 3D modeling of a snake robot with frictional unilateral constraints

2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Volumn , Issue , 2006, Pages 1181-1188

  Transeth, Aksel Andreas ^a   Leine, Remco I ^b   Glocker, Christoph ^b   Pettersen, Kristin Y ^a  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^b ETH ZURICH   (Switzerland)

Author keywords

3D snake robot; Non smooth dynamics

Indexed keywords

AUTOMATION; BIOMIMETICS; CONCRETE CONSTRUCTION; DYNAMICS; EQUATIONS OF MOTION; FRICTION; MATHEMATICAL MODELS; MECHANICS; MODAL ANALYSIS; ROBOTICS; ROBOTS; SLIP FORMING;

CONTACT POINTS; CONVEX ANALYSIS; COULOMB'S LAW; DEGREES OF FREEDOM; DRY FRICTIONS; FRICTION FORCES; INTERNATIONAL CONFERENCES; LATERAL UNDULATION; MOTION PATTERNS; NON-SMOOTH DYNAMICS; NUMERICA L RESULTS; SIMULATION RESULTS; SNAKE ROBOTS; STICK SLIP TRANSITIONS; THREE DIMENSIONAL (3 D) MODELING; TIME-STEPPING METHODS; UNILATERAL CONSTRAINTS; UNILATERAL CONTACTS;

THREE DIMENSIONAL;

EID: 40949083443     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBIO.2006.340096     Document Type: Conference Paper

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