A 'sidewinding' locomotion gait for hyper-redundant robots
The kinematics of a form of hyper-redundant mobile robot locomotion which is analogous to the sidewinding locomotion of desert snakes are considered. This form of locomotion can be generated by a repetitive traveling wave of mechanism bending. Using a continuous backbone curve model, algorithms are developed which enable travel in a uniform direction as well as changes in direction
Authors:
- Burdick, J.W.
- Radford, J.
- Chirikjian, G.S.
Dept. of Mech. Eng., CALTECH, Pasadena, CA;
- This paper appears in: Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
- Publication Date: 2-6 May 1993
- On page(s): 101-106 vol.3
- Meeting Date: 05/02/1993 - 05/06/1993
- Location: Atlanta, GA, USA
- ISBN: 0-8186-3450-2
- References Cited: 13
- INSPEC Accession Number: 4690856
- Digital Object Identifier: 10.1109/ROBOT.1993.291864
- Current Version Published: 2002-08-06