A study of Active-Wheel snake robot locomotion gaits
Conference proceedings article
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Publication Details
Author list: Khunnithiwarawat T., Maneewarn T.
Publisher: Hindawi
Publication year: 2011
Start page: 2805
End page: 2809
Number of pages: 5
ISBN: 9781457721373
ISSN: 0146-9428
eISSN: 1745-4557
Languages: English-Great Britain (EN-GB)
Abstract
This research aims to study the locomotion of a wheel snake robot in different environments. The wheel snake robot was developed in the form of Active-Wheel Active-Joint to easily create mobile forms for use in variety of different operating conditions. Using the motion by the force of the wheel, waves are created by the robot to generate friction conditions that can propel the robot in the desired direction. In this work we experimented with three types of environment: a flat ground, a slope and a tight corner. The experiment shows that the Active-Wheel Sinusoidal (AWS) gait is the best solution for traveling on a flat ground and a slope. For turning in a tight corner, the robot should use the Active-Joint Active-Wheel (AJAW) gait. By adjusting parameters such as motion shape and motor driving speed, the experiment showed that the L-shape gait with varied drive speed required the smallest turning area compared to other gaits that were tested. ฉ 2011 IEEE.
Keywords
Active-Wheel Active-Joint snake robot, locomotion, snake robot gait
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