Abstract:
Snake robot or hyper redundant robot is very complex robotic system since it posses very large active and passive degree of freedom. To simplify the design, modeling and ...Show MoreMetadata
Abstract:
Snake robot or hyper redundant robot is very complex robotic system since it posses very large active and passive degree of freedom. To simplify the design, modeling and locomotion, a simpler approach is needed. In this paper a clustering of four bit bang-bang sequence control is proposed for every robot module to achieve serpentine shape configuration or gait. Next the Denavit Harternberg Method is used to model the segment or module involved. Scalable combination of this approach will become complex system of snake robot for serpentine gait.
Published in: 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Date of Conference: 12-15 November 2014
Date Added to IEEE Xplore: 12 March 2015
Electronic ISBN:978-1-4799-5333-2