Abstract
This paper presents the results of an experimental study on limbless snake-like locomotion. The experimental plate-form consists of a 9-DOF wheel-less snake-like robot and an appropriate artificial environment. The wheel-less snake-like mechanism has a planar structure and is mainly dedicated to move through lateral undulation, the most common limbless locomotion type observed in natural snakes. The mechanical design, trajectory generation and control method have been biologically inspired. With the closed-loop control, the artificial mechanism has succeeded in applying the natural principles of lateral undulation in an autonomous manner excepting for the power supply. Another limbless locomotion type has also been experimented with the same mechanism.
| Original language | English |
|---|---|
| Pages (from-to) | 591-602 |
| Number of pages | 12 |
| Journal | Mechanism and Machine Theory |
| Volume | 44 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Mar 2009 |
Funding
This work has been supported by the Scientific and Technological Research Council of Turkey with Projects No. TUBITAK-PIA-1 and TUBITAK MISAG-277.
| Funders | Funder number |
|---|---|
| Türkiye Bilimsel ve Teknolojik Araştirma Kurumu | MISAG-277, TUBITAK-PIA-1 |
Keywords
- Biologically inspired methods
- Lateral undulation
- Limbless locomotion
- Wheel-less snake-like robot