A geometrical approach to the trajectory planning of a snake-like robot

Bayraktaroglu Z. Y., Butel F., Pasqui V., Blazevic P.

2nd International Conference on Climbing and Walking Robots (CLAWAR 99), Portsmouth, Dominika, 13 - 15 Eylül 1999, ss.851-856 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Portsmouth
  • Basıldığı Ülke: Dominika
  • Sayfa Sayıları: ss.851-856
  • İstanbul Teknik Üniversitesi Adresli: Hayır

Özet

The paper looks at the path planning concepts of a robot based on a snake. The essential feature of the snake considered here is a vertbrated column that allows the necessary undulations to be performed so that there are sufficient contact points with the ground to enable forward locomotion by lateral motions of the body.