Reconstruction of Backbone Curves for Snake Robots

Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often designed kinematically by a chronological sequence of continuous b...

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Veröffentlicht in:	IEEE robotics and automation letters 2021-04, Vol.6 (2), p.3264-3270
Hauptverfasser:	Wang, Tianyu, Lin, Bo, Chong, Baxi, Whitman, Julian, Travers, Matthew, Goldman, Daniel I., Blekherman, Greg, Choset, Howie
Format:	Artikel
Sprache:	eng
Schlagworte:	Backbone Biologically-inspired robots Configurations Locomotion Motion planning Numerical prediction Optimization Pitch (inclination) redundant robots Robot dynamics Robot kinematics Robots search and rescue robots Shape Smoothing methods Snake robots Three dimensional motion Three-dimensional displays Yaw
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