TY - GEN
T1 - Path following of the rope-drive snake-like robot
AU - Huang, Chengzu
AU - Gao, Junyao
AU - Wang, Cheng
AU - Su, Xuandong
AU - Liu, Huaxin
AU - Li, Xin
AU - Liu, Yi
AU - Xu, Zhe
PY - 2012
Y1 - 2012
N2 - As snake is one of the animals with the best obstacle performance in the nature, snake-like robot with the movement mechanism and behavioral pattern of a biological snake has broad application prospects. This paper designs a rope-drive snake-like robot driven by the friction of the rope instead of the traditional twisting forward movement pattern, the new drive mode can provide more power for the robot. Based on the follow the leader rule, this paper presents a new path following control method involving time delay in turn, and summarizes the movement pattern of the snake-like robot in theory, and then verifies the path following control method through simulation.
AB - As snake is one of the animals with the best obstacle performance in the nature, snake-like robot with the movement mechanism and behavioral pattern of a biological snake has broad application prospects. This paper designs a rope-drive snake-like robot driven by the friction of the rope instead of the traditional twisting forward movement pattern, the new drive mode can provide more power for the robot. Based on the follow the leader rule, this paper presents a new path following control method involving time delay in turn, and summarizes the movement pattern of the snake-like robot in theory, and then verifies the path following control method through simulation.
UR - http://www.scopus.com/inward/record.url?scp=84874634562&partnerID=8YFLogxK
U2 - 10.1109/ICACI.2012.6463364
DO - 10.1109/ICACI.2012.6463364
M3 - Conference contribution
AN - SCOPUS:84874634562
SN - 9781467317436
T3 - 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012
SP - 1189
EP - 1194
BT - 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012
T2 - 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012
Y2 - 18 October 2012 through 20 October 2012
ER -