Geometrical approach to the trajectory planning of a snake-like mechanism

Zeki Y. Bayraktaroglu; Fabienne Butel; Pierre Blazevic; Viviane Pasqui

Geometrical approach to the trajectory planning of a snake-like mechanism

Zeki Y. Bayraktaroglu^*, Fabienne Butel, Pierre Blazevic, Viviane Pasqui

^*Corresponding author for this work

Lab de Robotique de Paris

Research output: Contribution to conference › Paper › peer-review

19 Citations (Scopus)

Abstract

Hyper-redundancy concept and related mechanisms are actually of special interest in robotics research. Trajectory planning and obstacle avoidance seem to be the main research areas where the use of hyper-redundancy is considered. However, there is few prototypes of this kind of robots. Present work is the introduction part of a larger study aiming the construction of an hyper-redundant, particularly a snake-like robot supposed to progress as a real snake, without limbs nor wheels. It represents a first approach to a simulation of a snake-like mechanism in order to get basic characteristics of a such locomotion.

Original language	English
Pages	1322-1327
Number of pages	6
Publication status	Published - 1999
Externally published	Yes
Event	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 17 Oct 1999 → 21 Oct 1999

Conference

Conference	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
City	Kyongju, South Korea
Period	17/10/99 → 21/10/99

Cite this

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title = "Geometrical approach to the trajectory planning of a snake-like mechanism",

abstract = "Hyper-redundancy concept and related mechanisms are actually of special interest in robotics research. Trajectory planning and obstacle avoidance seem to be the main research areas where the use of hyper-redundancy is considered. However, there is few prototypes of this kind of robots. Present work is the introduction part of a larger study aiming the construction of an hyper-redundant, particularly a snake-like robot supposed to progress as a real snake, without limbs nor wheels. It represents a first approach to a simulation of a snake-like mechanism in order to get basic characteristics of a such locomotion.",

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Bayraktaroglu, ZY, Butel, F, Blazevic, P & Pasqui, V 1999, 'Geometrical approach to the trajectory planning of a snake-like mechanism', Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, 17/10/99 - 21/10/99 pp. 1322-1327.

Geometrical approach to the trajectory planning of a snake-like mechanism. / Bayraktaroglu, Zeki Y.; Butel, Fabienne; Blazevic, Pierre et al.
1999. 1322-1327 Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

Research output: Contribution to conference › Paper › peer-review

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AU - Butel, Fabienne

AU - Blazevic, Pierre

AU - Pasqui, Viviane

PY - 1999

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AB - Hyper-redundancy concept and related mechanisms are actually of special interest in robotics research. Trajectory planning and obstacle avoidance seem to be the main research areas where the use of hyper-redundancy is considered. However, there is few prototypes of this kind of robots. Present work is the introduction part of a larger study aiming the construction of an hyper-redundant, particularly a snake-like robot supposed to progress as a real snake, without limbs nor wheels. It represents a first approach to a simulation of a snake-like mechanism in order to get basic characteristics of a such locomotion.

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Y2 - 17 October 1999 through 21 October 1999

ER -

Geometrical approach to the trajectory planning of a snake-like mechanism

Abstract

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