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

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

*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

32 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Sayfalar1001-1006
Sayfa sayısı6
DOI'lar
Yayın durumuYayınlandı - 2006
Etkinlik1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Süre: 20 Şub 200622 Şub 2006

Yayın serisi

AdıProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Hacim2006

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???event.eventtypes.event.conference???1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Ülke/BölgeItaly
ŞehirPisa
Periyot20/02/0622/02/06

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