Control of a 3-dimensional snake-like robot

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. In this paper, we first discuss the controllability of a 3-dimensional snake-like robot, and then show the controllability of the robot by computer simulation.

[1]  Shugen Ma,et al.  Analysis of Creeping Locomotion of a Snake-like Robot on a Slope , 2001, Auton. Robots.

[2]  Gregory S. Chirikjian,et al.  The kinematics of hyper-redundant robot locomotion , 1995, IEEE Trans. Robotics Autom..

[3]  Joel W. Burdick,et al.  Geometric Perspectives on the Mechanics and Control of Robotic Locomotion , 1996 .

[4]  Gen Endo,et al.  Study on self-contained and terrain adaptive active cord mechanism , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[5]  Fumitoshi Matsuno,et al.  Control and Unit Design of Redundant Snake Robots Based on Kinematic Model , 2000 .

[6]  Shigeo Hirose,et al.  Biologically Inspired Robots: Snake-Like Locomotors and Manipulators , 1993 .

[7]  R. Worst,et al.  Construction and operation of a snake-like robot , 1996, Proceedings IEEE International Joint Symposia on Intelligence and Systems.

[8]  Gregory S. Chirikjian,et al.  A 'sidewinding' locomotion gait for hyper-redundant robots , 1994 .

[9]  Shigeo Hirose,et al.  Development of active cord mechanism ACM-R3 with agile 3D mobility , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[10]  Bin Li,et al.  Analysis of creeping locomotion of a snake robot on a slope , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).