Motion pattern analysis of semi-looper type robots with four links

Keigo Watanabe, Guang Lei Liu, Kiyotaka Izumi

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)


For worm robots applied to pipe inspection and colonoscopy, earthworm-like robots with a locomotion pattern in backward wave or green caterpillar-like robots with a locomotion pattern in forward wave have been studied widely. It should be noted, however, that a method using a single and fixed locomotion pattern is not desirable in the sense of mobility cost, if there are various changes in pipe diameter. In this paper, locomotion patterns are considered for a semi-looper-like robot, which adopts a locomotion pattern of green caterpillars as the basic motion and sometimes can realize a locomotion pattern of looper, whose motion approximately consists of two rhythms or relatively low rhythm.

Original languageEnglish
Number of pages6
Publication statusPublished - Dec 1 2005
Externally publishedYes
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: Aug 8 2005Aug 10 2005


OtherSICE Annual Conference 2005


  • Biomimetic robots
  • Neural networks
  • Pattern analysis of locomotion
  • Semi-looper robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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