Snake-like locomotion: integration of geometry and kineto-statics


Bayraktaroglu Z. Y. , BUTEL F., Pasqui V., BLAZEVIC P.

ADVANCED ROBOTICS, cilt.14, sa.6, ss.447-458, 2000 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 14 Konu: 6
  • Basım Tarihi: 2000
  • Doi Numarası: 10.1163/156855300741942
  • Dergi Adı: ADVANCED ROBOTICS
  • Sayfa Sayıları: ss.447-458

Özet

The snake is represented by over 2500 species on earth. Widespread geographical distribution as well as a long history of evolution mean that they possess a relatively adaptive anatomy, This paper deals with snake-like locomotion that is distinguished from wheeled and legged locomotion by fundamental physical differences. A biologically motivated alternative locomotion for mobile robots is the aim of the project. A number of biological unknowns in the problem let us to make hypotheses based on heuristic approaches. Research on snake-like locomotion is motivated by several applications from inspection in hazardous environments to use as medical equipment.