Dynamics Analysis on Serpentine Locomotion of a New Snake-like Robot
YE Chang-long1,3, MA Shu-gen2,3, LI Bin3, WANG Yue-chao3, JING Tao4
1. Shenyang Institute of Aeronautical Engineering, Shenyang 110034, China; 2. Faculty of Engineering, Ibaraki University, Hitachi 316-8511, Japan; 3. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 4. Shenyang Yuanda Group, Shenyang 110023, China
叶长龙, 马书根, 李斌, 王越超, 井涛. 新型蛇形机器人蜿蜒运动的动力学分析[J]. 机器人, 2005, 27(6): 555-560..
YE Chang-long, MA Shu-gen, LI Bin, WANG Yue-chao, JING Tao. Dynamics Analysis on Serpentine Locomotion of a New Snake-like Robot. ROBOT, 2005, 27(6): 555-560..
Abstract：In order to increase the capability of locomotion,a new snake-like robot is designed.The dynamics of the new snake-like robot is mainly studied in this paper.Firstly,the kinematic model is set up,then the composite control method is proposed based on this model.Finally,the Lagrange method is used to build the dynamic model of the snake-like robot.The characteristics of torque of each joint and the frictional force under different parameters are compared for the better locomotion of this snake-like robot.
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