TY - GEN
T1 - Bio-inspired locomotion for a modular snake robot
AU - Zhang, Shubo
AU - Yi, Guo
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Locomotion control
KW - Modular robots
KW - Snake robots
UR - http://www.scopus.com/inward/record.url?scp=69649096509&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69649096509&partnerID=8YFLogxK
U2 - 10.1117/12.820257
DO - 10.1117/12.820257
M3 - Conference contribution
AN - SCOPUS:69649096509
SN - 9780819475879
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Bio-Inspired/Biomimetic Sensor Technologies and Applications
T2 - Bio-Inspired/Biomimetic Sensor Technologies and Applications
Y2 - 13 April 2009 through 14 April 2009
ER -