Assisted passive snake-like robots: Conception and dynamic modeling using Gibbs-Appell method

Vossoughi, G ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574707003864
  3. Publisher: 2008
  4. Abstract:
  5. In this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs-Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve. © 2007 Cambridge University Press
  6. Keywords:
  7. Approximation theory ; Computer simulation ; Constraint theory ; Dynamical systems ; Kinematics ; Dynamic equations ; Gibbs-Appell method ; Intelligent robots
  8. Source: Robotica ; Volume 26, Issue 3 , 2008 , Pages 267-276 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/abs/assisted-passive-snakelike-robots-conception-and-dynamic-modeling-using-gibbsappell-method/5353B62B874A6E8AFDBD21FD2633605A