Analysis and design of a multi-link mobile robot (serpentine)

Proceedings of the IEEE International Conference on Industrial Technology

Volumn 2, Issue , 2002, Pages 694-699

  Wiriyacharoensunthorn, P ^a   Laowattana, S ^a  

^a KING MONGKUT'S UNIVERSITY OF TECHNOLOGY THONBURI   (Thailand)

Author keywords

Active Cord Mechanism (ACM); Holonomic motion; Kane's method; Nonholonomic motion; Serpentine gait; Steering control

Indexed keywords

DYNAMIC ANALYSIS; FRICTION; ROBOTICS; ROBOTS; SERPENTINE; SILICATE MINERALS;

ACTIVE CORD MECHANISM (ACM); HOLONOMIC; KANE'S METHOD; NONHOLONOMICS; STEERING CONTROL;

MACHINE DESIGN;

EID: 84866918968     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICIT.2002.1189249     Document Type: Conference Paper

References (5)

1. Hirose, S., 1993, Biologically Inspired Robots: Snake-Like Locomotors and Manipulators, Oxford, Oxford University Press, pp. 1-125.
2. Prautsch, P. and Mita, T., 1999, "Control and Analysis of the Gait of Snake Robots", Proceedings of the 1999 IEEE International Conference on Control Applications, Kohala Coast-Island of Hawaii, Hawaii, USA., pp. 502-507.
3. Kane, T. R. and Levison, D. A., 2000, "Locomotion of snakes: a mechanical 'explanation'", International Journal of Solid and Structure, No. 37, pp. 5829-5837.
4. Kane, T. R and Levison, D. A., 1985, Dynamics: Theory and Application, McGraw-Hill Book, pp. 1-124, 158-241.
5. W. Pakpoom, 2001, "An Obstacle Avoidance in Serpentine Robot with Potential Fields", Master degree thesis, Mechanical Engineering, King Mongkut's University of Technology Thonburi [KMUTT], Section 4, pp. 29-49