0

Full Content is available to subscribers

Subscribe/Learn More  >

Gait Fitting Algorithms for Snake Robots With Binary Actuators

[+] Author Affiliations
Yunjie Miao, Feng Gao, Yong Zhang

Shanghai JiaoTong University, Shanghai, China

Paper No. DETC2012-70108, pp. 3-12; 10 pages
doi:10.1115/DETC2012-70108
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

This paper introduces a new snake robot with binary actuators and mainly focuses on the simulations of various snake gaits. Three categories of fitting algorithms are proposed. They are 1) Fitting Algorithm of One Module; 2) Position-Fitting Algorithm of Multiple Modules; 3) Configuration-Fitting Algorithm of Multiple Modules. All the fitting algorithms and their fitting results are elaborated in simulations of lateral undulation, one of the most widely used snake gaits. As the best fitting algorithm for lateral undulation, Configuration-Fitting Algorithm of Four Modules is also applied to a snake robot of different dimensions to demonstrate that it is a universal gait fitting algorithm for all kinds of snake robots with binary actuators.

Copyright © 2012 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In