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Experimental investigation of fundamental properties of snake robot locomotion

Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy
Chapter, Peer reviewed
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URI
http://hdl.handle.net/11250/293070
Date
2010
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  • Institutt for teknisk kybernetikk [3526]
  • Publikasjoner fra CRIStin - NTNU [35008]
Original version
Wen, Changyun [Eds.] Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010) p. 187-194, IEEE conference proceedings, 2010   10.1109/ICARCV.2010.5707241
Abstract
This paper derives and experimentally investigates fundamental properties of the velocity of a snake robot conducting lateral undulation. In particular, the derived properties state that the average forward velocity of the snake robot 1) is proportional to the squared amplitude of the sinusoidal motion of each joint of the robot, 2) is proportional to the angular frequency of the sinusoidal motion of each joint, 3) is proportional to a particular function of the constant phase shift between the joints, and 4) is maximized by the phase shift between the joints that also maximizes the particular phase shift function. The paper presents an experimental investigation of the validity of these derived properties by measuring the forward velocity of a physical snake robot during lateral undulation. The experimental results support the theoretical findings.
Publisher
IEEE Conference Publications
Series
Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010).;
Copyright
Institute of Electrical and Electronics Engineers (IEEE)

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