Snake-like locomotion: Integration of geometry and kineto-statics

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

doi:10.1163/156855300741942

Snake-like locomotion: Integration of geometry and kineto-statics

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

^*Corresponding author for this work

Lab de Robotique de Paris

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

The snake is represented by over 2500 species on earth. Widespread geographical distribution as well as a long history of evolution mean that they possess a relatively adaptive anatomy. This paper deals with snake-like locomotion that is distinguished from wheeled and legged locomotion by fundamental physical differences. A biologically motivated alternative locomotion for mobile robots is the aim of the project. A number of biological unknowns in the problem let us to make hypotheses based on heuristic approaches. Research on snake-like locomotion is motivated by several applications from inspection in hazardous environments to use as medical equipment.

Original language	English
Pages (from-to)	447-458
Number of pages	12
Journal	Advanced Robotics
Volume	14
Issue number	6
DOIs	https://doi.org/10.1163/156855300741942
Publication status	Published - 2000
Externally published	Yes

Keywords

Geometrical modeling
Locomotion
Optimization
Simulation
Trajectory planning

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10.1163/156855300741942

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AU - Blazevic, Pierre

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AB - The snake is represented by over 2500 species on earth. Widespread geographical distribution as well as a long history of evolution mean that they possess a relatively adaptive anatomy. This paper deals with snake-like locomotion that is distinguished from wheeled and legged locomotion by fundamental physical differences. A biologically motivated alternative locomotion for mobile robots is the aim of the project. A number of biological unknowns in the problem let us to make hypotheses based on heuristic approaches. Research on snake-like locomotion is motivated by several applications from inspection in hazardous environments to use as medical equipment.

KW - Geometrical modeling

KW - Locomotion

KW - Optimization

KW - Simulation

KW - Trajectory planning

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Snake-like locomotion: Integration of geometry and kineto-statics

Abstract

Keywords

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