GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control

GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control

Based on the experience with our first GMD-SNAKE, we now present the next generation robot, the GMD-SNAKE2, which is a robot for inspection tasks in areas difficult to access by humans. We aim to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of...

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Veröffentlicht in:Proceedings - IEEE International Conference on Robotics and Automation 1999, Vol.4, p.3014-3019 vol.4
Hauptverfasser: Klaassen, B., Paap, K.L.
Format: Artikel
Sprache:eng
Schlagworte:
Biomechanics
Calculations
Communication system control
DC motors
Delay estimation
Engine cylinders
Infrared sensors
Inspection
Mobile robots
Motion control
Propulsion
Robotics
Universal joints
Wheels
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Beschreibung
Zusammenfassung:Based on the experience with our first GMD-SNAKE, we now present the next generation robot, the GMD-SNAKE2, which is a robot for inspection tasks in areas difficult to access by humans. We aim to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of our robot we concentrate on a method for motion control. It allows a very flexible and consistent method of path planning and calculation where smooth curves are desired. It is applicable not only to snake-like movement, but to any wheeled robot which is able to control the curvature of its path.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.774055