Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages3067-3072
Number of pages6
DOIs
Publication statusPublished - Nov 2 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

ASJC Scopus subject areas

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

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    Kamegawa, T., Harada, T., & Gofuku, A. (2009). Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 3067-3072). [5152862] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152862