Research on kinematics of the snake-like robot

XIONG Xiang; YAN Guo-zheng; DING Guo-qing; LIN Liang-ming; CAI Hong

doi:null

您当前的位置：

首页 >

文章列表页 >

Research on kinematics of the snake-like robot

更新时间：2020-08-12

- Research on kinematics of the snake-like robot
- Optics and Precision Engineering Vol. 9, Issue 4, Pages: 330-333(2001)
- 作者机构：
  
  上海交通大学, 上海, 430074
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：06 April 2001，
  
  Revised：11 May 2001，
  
  Published Online：15 August 2001，
  
  Published：15 August 2001
- 稿件说明：
移动端阅览
熊翔, 颜国正, 丁国清, 林良明, 蔡弘. 基于蛇类生物的仿生变体机器人运动学研究[J]. 光学精密工程, 2001,(4): 330-333

XIONG Xiang, YAN Guo-zheng, DING Guo-qing, LIN Liang-ming, CAI Hong. Research on kinematics of the snake-like robot[J]. Editorial Office of Optics and Precision Engineering, 2001,(4): 330-333
熊翔, 颜国正, 丁国清, 林良明, 蔡弘. 基于蛇类生物的仿生变体机器人运动学研究[J]. 光学精密工程, 2001,(4): 330-333 DOI：

XIONG Xiang, YAN Guo-zheng, DING Guo-qing, LIN Liang-ming, CAI Hong. Research on kinematics of the snake-like robot[J]. Editorial Office of Optics and Precision Engineering, 2001,(4): 330-333 DOI：

摘要

基于仿生机械学的原理

本文提出了仿生变体机器人的物理结构

讨论了仿生变体机器人的运动机理

分析了仿生变体机器人线形运动的基本步态.并对该机器人系统进行了运动学分析

实验结果证明了这种运动步态的可行性.最后指出了这种基本运动步态的局限性和改进的方向.

Abstract

This paper discusses the gaits of snake-like robot according to the snake's biomechanics

and also analyzes the kinematics to progress quantitatively by undulation in a vertical plane. The feasibility of this kind of gait has been proved by kinematic analysis.

关键词

Keywords

references

Mochiyama Hiromi, Shimemura Etsujiro, Kobayashi Histo. Shape control of manipulators with hyper degrees of freedom[J]. The International Journal of Robotics Research, 1999,18(6):584-600.

Klaasser Bernhand, Paap Karl L. GMD-SNAKE2. A snake-like robot driven by wheel and a method for motion control[A].Proceedings of the 1999. IEEE International Conference on Robotics & Automation[C],1999,3014-3019.

林良明.仿生机械学[M].上海:上海交通大学出版社,1989.

Views

535

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰