TY - JOUR
T1 - Snake-like locomotion
T2 - Experimentations with a biologically inspired wheel-less snake robot
AU - Bayraktaroglu, Z. Y.
PY - 2009/3
Y1 - 2009/3
N2 - 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.
AB - 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.
KW - Biologically inspired methods
KW - Lateral undulation
KW - Limbless locomotion
KW - Wheel-less snake-like robot
UR - http://www.scopus.com/inward/record.url?scp=58249085796&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2008.08.009
DO - 10.1016/j.mechmachtheory.2008.08.009
M3 - Article
AN - SCOPUS:58249085796
SN - 0094-114X
VL - 44
SP - 591
EP - 602
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
IS - 3
ER -