An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water
	Yu SM(郁树梅); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2009
会议名称	IEEE International Conference on Information and Automation (ICIA 2009)
会议日期	June 22-24, 2009
会议地点	Zhuhai, China
关键词	Snake-like robot Amphibious Locomotion Serpenoid Curve
页码	485-490
中文摘要	This paper presents an amphibious snake-like robot's design and its omnipotent locomotion ability both on the land and in the water. This amphibious snake-like robot, mainly composed by 9 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. In this paper, we concentrate on the gait diversity of the amphibious snake-like robot. Due to its special joint design and the feature of being densely covered by vanes, the robot is endowed with an omnipotent ability of amphibious locomotion. Besides the traditional fundamental gaits, the robot displays unheard-of gaits like S-shape rolling and helical rolling, which all have important influences on the robot's traversing ability and control of position and posture. We still use a simplified Serpenoid Curve to deduce the control equations for each gait, but have new discoveries on gait generation method and traits of the robot's diverse locomotion. Experimental results show all gaits of the amphibious snake-like robot.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE
会议录	ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-3607-1
WOS记录号	WOS:000277076800090
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8560]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yu SM,Ma SG,Li B,et al. An Amphibious Snake-like Robot: Design and Motion Experiments on Ground and in Water[C]. 见:IEEE International Conference on Information and Automation (ICIA 2009). Zhuhai, China. June 22-24, 2009.