Design and control of biologically inspired wheel-less snake-like robot

Zeki Y. Bayraktaroglu*, Atilla Kihçarslan, Ahmet Kuzucu, Vincent Hugel, Pierre Blazevic

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

32 Citations (Scopus)

Abstract

This paper describes our research project on snake-like locomotion of robotic platforms and the results of the experiments conducted with a wheel-less snake-like robot prototype. Biological inspiration has been at the hardcore of the mechanical design and the control method applied to the robot. With closed-loop control applied to the present wheelless prototype, it has succeeded in progressing through lateral undulation, the most common limbless locomotion type observed in natural snakes. Main results consist of the robustness of the locomotion with respect to the variations in initial conditions and external perturbations.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages1001-1006
Number of pages6
DOIs
Publication statusPublished - 2006
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: 20 Feb 200622 Feb 2006

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Conference

Conference1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country/TerritoryItaly
CityPisa
Period20/02/0622/02/06

Keywords

  • Biologically inspired methods
  • Lateral undulation
  • Limbless locomotion
  • Snake-like robot

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