Title : ( Design and Modeling of a Snake Robot Based on Worm-Like Locomotion )
Authors: Alireza Akbarzadeh Tootoonchi , hadi kalani ,
Full TextAbstract
In this paper we restrict our attention to worm-like, vertical traveling wave locomotion and present detailed kinematics and dynamics of a planar multi-link snake robot. Lagrange\'s method is used to obtain the robot dynamics. Webots software is used for simulation and to experimentally investigate the effects of link shape on motor torques. Using the dynamics model and Webots simulation, a nine-link snake robot is designed and constructed. Physical experiments are carried out to validate the mathematical model. Webots software is also used to perform simulation and further validate theoretical results. Finally, stability of the snake robot is experimentally investigated.
Keywords
, SNAKE ROBOT, LAGRANGE METHOD, WORM-LIKE LOCOMOTION, STABILITY, SERPENOID CURVE
@article{paperid:1033611,
author = {Akbarzadeh Tootoonchi, Alireza and Kalani, Hadi},
title = {Design and Modeling of a Snake Robot Based on Worm-Like Locomotion},
journal = {Advanced Robotics},
year = {2012},
volume = {26},
number = {1},
month = {January},
issn = {0169-1864},
pages = {537--560},
numpages = {23},
keywords = {SNAKE ROBOT;
LAGRANGE METHOD;
WORM-LIKE LOCOMOTION;
STABILITY;
SERPENOID CURVE},
}
%0 Journal Article
%T Design and Modeling of a Snake Robot Based on Worm-Like Locomotion
%A Akbarzadeh Tootoonchi, Alireza
%A Kalani, Hadi
%J Advanced Robotics
%@ 0169-1864
%D 2012
