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| Control Method of a Snake-like Robot Based on Music Theory |
| LI Bin1, LU Zhen-li1,2,3 |
1. Robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China;
2. Shenyang Institute of Technology, Shenyang 110168, China;
3. Graduate School of the Chinese Academy of Sciences, Beijing 100039, China |
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Abstract Based on the structure and rhythmic movement of both biological snake and snake-like robot, music theory is adopted as a control method to study on a snake-like robot. And the relationship among the rules and symbols of musical theory as well as the snake-like robot control process is then defined. Thus the serpentine movement is melodized. The serpentine music is utilized to control "Perambulator-Ⅰ" snake-like robot. Finally the aspects of future research are discussed.
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Received: 12 July 2004
Published: 15 January 2005
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