Bio-inspired locomotion for a modular snake robot

Shubo Zhang, Guo Yi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Inspired by the snake locomotion, modular snake robots have different locomotion capabilities by coordinating their internal degrees of freedom. They have the potential to access restricted spaces where humans cannot go. They can also traverse rough terrains while conventional wheeled and legged robots cannot. Modular robots have other features including versatility, robustness, low-cost, and fast-prototyping. We have built our first prototype that costs less than $200. In this paper, we describe the electronics architecture of our prototyped robot, and present a model for the locomotion of pitch-yaw snake robots that allows them to perform different gaits. Each mode of the robot is controlled by a sinusoidal oscillator with four parameters: amplitude, frequency, phase, and offset. We show the parameters that achieve snake-like locomotion.

Original languageEnglish
Title of host publicationBio-Inspired/Biomimetic Sensor Technologies and Applications
DOIs
StatePublished - 2009
EventBio-Inspired/Biomimetic Sensor Technologies and Applications - Orlando, FL, United States
Duration: 13 Apr 200914 Apr 2009

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume7321
ISSN (Print)0277-786X

Conference

ConferenceBio-Inspired/Biomimetic Sensor Technologies and Applications
Country/TerritoryUnited States
CityOrlando, FL
Period13/04/0914/04/09

Keywords

  • Locomotion control
  • Modular robots
  • Snake robots

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