Proposition of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot

Tetsushi Kamegawa, Fumitoshi Matsuno, Ranajit Chatterjee

Research output: Contribution to journalConference article

27 Citations (Scopus)

Abstract

We present a new type of locomotion mode, path planning of shape transition, and design and implementation of a 3-dimensional hyper-redundant snake-like robot. First we explain the multiple locomotion modes, for example ring mode, inching mode, bridge mode, and so on. We propose a new type of locomotion "Twisting mode" and analyze the principle of the locomotion based on statics. Next, the motion planning using Genetic Algorithm for transition of locomotion modes is explained and simulation result for the GA research is shown. Finally, we explain the designed prototype system and experimental results are shown.

Original languageEnglish
Pages (from-to)1507-1512
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - Jan 1 2002
Externally publishedYes
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

Keywords

  • GA based motion planning
  • Snake-like robot
  • Twisting mode of locomotion

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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