Gait fitting for snake robots with binary actuators

作     者：MIAO YunJie GAO Feng ZHANG Yong 

作者机构：State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University 

基　　金：supported by the Research Fund of State Key Laboratory of Mechanical System and Vibration China(Grant No.MSV-2010-07) 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2014年第57卷第1期

页      码：181-191页

摘      要：Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of *** paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake *** categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary *** typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.

主 题 词：蛇形机器人 运动步态 拟合算法 执行器 二进制 物理结构 运动设计 数字化 

学科分类：0810[工学-土木类] 080202[080202] 08[工学] 080401[080401] 0804[工学-材料学] 080402[080402] 0805[工学-能源动力学] 0802[工学-机械学] 0835[0835] 081002[081002] 0702[理学-物理学类] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1007/s11431-013-5405-0

馆 藏 号：203643043...