Obstacles are beneficial to me! Scaffold-based locomotion of a snake-like robot using decentralized control

研究成果: Conference contribution

21 被引用数 (Scopus)

抄録

Snakes are able to move effectively by using terrain irregularities as scaffolds against which they push their bodies. This locomotion is attractive from a robotic viewpoint because irregularities in the environment of conventional robots interfere with their operation. In a previous work, we proposed a decentralized control mechanism of the scaffold-based locomotion of snakes, which combined curvature derivative control with local pressure reflex. Here, we practically demonstrate how a snake-like robot utilizing the proposed control scheme moves effectively by pushing its body against pegs.

本文言語English
ホスト出版物のタイトルIROS 2013
ホスト出版物のサブタイトルNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
ページ3273-3278
ページ数6
DOI
出版ステータスPublished - 2013
イベント2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
継続期間: 2013 11月 32013 11月 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
国/地域Japan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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