Abstract
We present a new type of locomotion mode, path planning of shape transition, and design and implementation of a 3-dimensional hyper-redundant snake-like robot. First we explain the multiple locomotion modes, for example ring mode, inching mode, bridge mode, and so on. We propose a new type of locomotion "Twisting mode" and analyze the principle of the locomotion based on statics. Next, the motion planning using Genetic Algorithm for transition of locomotion modes is explained and simulation result for the GA research is shown. Finally, we explain the designed prototype system and experimental results are shown.
| Original language | English |
|---|---|
| Pages (from-to) | 1507-1512 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| Publication status | Published - Jan 1 2002 |
| Externally published | Yes |
| Event | 2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: May 11 2002 → May 15 2002 |
Keywords
- GA based motion planning
- Snake-like robot
- Twisting mode of locomotion
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering