Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 – | Zendy

Makoto Mori | Zendy; Shigeo Hirose | Zendy

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Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 –

Author(s) -

Makoto Mori,

Shigeo Hirose

Publication year - 2006

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2006.p0521

Subject(s) - mechanism (biology) , robot , robot locomotion , computer science , control (management) , control engineering , engineering , robot control , simulation , control theory (sociology) , artificial intelligence , mobile robot , physics , quantum mechanics

We discuss basic control strategies of a three-dimensional snake-like robot. Introduced strategies are composed of shifting and rolling, and their superimposing control. This paper clarified the generation of control commands for these movements and verified the feasibility of our proposal in experiments using the three-dimensional snake-like robot “ACM-R3”.

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