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Clustering four bit sequence control for serpentine gait of hyper redundant robot system | IEEE Conference Publication | IEEE Xplore

Clustering four bit sequence control for serpentine gait of hyper redundant robot system


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 More

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.
Date of Conference: 12-15 November 2014
Date Added to IEEE Xplore: 12 March 2015
Electronic ISBN:978-1-4799-5333-2
Conference Location: Kuala Lumpur, Malaysia

References

References is not available for this document.