TY - GEN
T1 - Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels
AU - Kamegawa, Tetsushi
AU - Harada, Takaaki
AU - Gofuku, Akio
PY - 2009/11/2
Y1 - 2009/11/2
N2 - Recently, multiple locomotion gaits of snake have been realized by snake robots. However, previous locomotion gaits are mainly limited on two-dimensional plane. In this study, we make a snake robot that can move in three-dimensional space by connecting several units serially. The each unit is composed by assembling one pitch axis and one yaw axis, and it can have two passive wheels. We realize previously achieved basic locomotion gaits and simple cylinder climbing locomotion. In addition, we also realize cylinder climbing locomotion with helical form by the snake robot using mathematical continuum model.
AB - Recently, multiple locomotion gaits of snake have been realized by snake robots. However, previous locomotion gaits are mainly limited on two-dimensional plane. In this study, we make a snake robot that can move in three-dimensional space by connecting several units serially. The each unit is composed by assembling one pitch axis and one yaw axis, and it can have two passive wheels. We realize previously achieved basic locomotion gaits and simple cylinder climbing locomotion. In addition, we also realize cylinder climbing locomotion with helical form by the snake robot using mathematical continuum model.
UR - http://www.scopus.com/inward/record.url?scp=70350383274&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350383274&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152862
DO - 10.1109/ROBOT.2009.5152862
M3 - Conference contribution
AN - SCOPUS:70350383274
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3067
EP - 3072
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -