A snake robot with mixed gaits capability
Snake robots are mostly designed based on single mode of locomotion. However, single mode gait most of the time fails to work effectively when they are required to work in different cluttered environment with different measures of complexity. As a solution, mixed mode locomotion is proposed in...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/27208/ http://irep.iium.edu.my/27208/1/KKU-IENC2012_Proceedings.pdf |
| Summary: | Snake robots are mostly designed based on single
mode of locomotion. However, single mode gait most of the
time fails to work effectively when they are required to work in
different cluttered environment with different measures of
complexity. As a solution, mixed mode locomotion is proposed
in this paper by synchronizing serpentine gait for
unconstricted workspace and wriggler gait for narrow space
environment through development of a simple gait transition
algorithm. This study includes the investigation on kinematics
analysis followed by dynamics analysis while considering
related structural constraints for both gaits. This approach
utilized speed of the serpentine gait for open area operation
and exploits narrow space access capability of the wriggler
gait. Hence, this approach in such a way increases motion
flexibility in view of the fact that the snake robot is capable of
changing its mode of locomotion according to the working
environment. |
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