刘华, 颜国正, 丁国清. 仿蛇变体机器人运动机理研究[J]. 机器人, 2002, 24(2): 154-158..
LIU Hua, YAN Guo-zheng, DING Guo-qing . RESEARCH ON THE LOCOMOTION MECHANISM OF THE SNAKE-LIKE ROBOT. ROBOT, 2002, 24(2): 154-158..
Abstract：This paper presents a snake-like robot. The structure of the snake-like robot is discussed. The locomotion mechanism and the geometry analysis of the snake-like robot are analyzed carefully. The control algorithm based on the locomotion mechanism and the geometry analysis is also deduced. The snake-like robot can move forward and backward controlled by the algorithm. The snake-like robot can reveal the locomotion of the real snake in some degree.
[1] German National Research Center for Information Technology. GMD-SNAKE Robot-Snake with Flexible Real-Time Control. GMD′s Collection of Snake-like Robots. [2] University of Metz (France). Snake-like Flexible Micro-robot, PROJET COPERNICUS CP94-1306, GMD′s Collection of Snake-like Robots. [3] Ibraki University. Analysis of Snake-Movement and Development of Snake-like Robot. GMD′s Collection of Snake-like Robots. [4] Tokyo Institute of Technology. Control of Snake-like Robot. GMD′s Collection of Snake-like Robots. [5] Thomas R. Kane and David A. Levinson, Locomotion of Snakes:a mechanical ′explanation′, International Journal of Solids and Structures 37, 5827-5837; (2000). [6] Kevin Dowling. Limbless locomotion:learning to crawl, 1997. [7] NASA Ames Research Center. Serpentine Robots for Planetary Science. Serpentine Robotics at NASA Ames Research Center. [8] JPL. Light-weight and highly dexterous serpentine robot developed at JPL. [9] JPL Serpentine Robot-Small. light-weight and highly dexterous serpentine robot developed at JPL. [10] Comeaga D, C Nitu, E Grecu. Kynematic and Static analysis of a Snake-like Redundant Microrobot Module. Mekatronica′97, 1997,1:37-41
