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Fundamental properties of snake robot locomotion

Abstract

This paper presents a set of fundamental properties of the velocity of a snake robot conducting lateral undulation on a planar surface. In particular, the derived properties state that the average forward velocity of the snake robot 1) is proportional to the squared amplitude of the sinusoidal motion of each joint of the robot, 2) is proportional to the angular frequency of the sinusoidal motion of each joint, 3) is proportional to a particular function of the constant phase shift between the joints, and 4) is maximized by the phase shift between the joints that also maximizes the particular phase shift function. The paper presents simulation results that support the validity of the derived properties
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Category

Academic chapter

Language

English

Author(s)

  • Pål Liljeback
  • Kristin Ytterstad Pettersen
  • Øyvind Stavdahl
  • Jan Tommy Gravdahl

Affiliation

  • SINTEF
  • Norwegian University of Science and Technology

Year

2010

Publisher

IEEE (Institute of Electrical and Electronics Engineers)

Book

Proceedings / IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010)

ISBN

9781424466757

Page(s)

2876 - 2883

View this publication at Norwegian Research Information Repository