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Abstract: By analyzing the locomotion and the skeleton of the snake,
a new kind structure of implement-unit, which can be assembled in
different style in terms of the different motion, and control-system for
snake-robot have been presented, which is modularized and can be
interchanged. The kinematical model of the snake-robot has been built up
and the gaitfor concertina-motion has also been planned. Forward and
backward concertina-motion has been implemented. Via the experiment, the
feasibility of the mechanism and the kinematical model has been proved.
Key words: Snake-robot Structure of implement-unit Controlsystem
Concertina-motion
CLC No: TP24
Received
20040705, received in revised form 20041015
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