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Gesture based control of snake robot and its simulated gaits

Published: 15 December 2010 Publication History

Abstract

In this paper we present a new gesture based control for snake robot using a custom developed accelerometer based data glove. This Snake robot which was biologically inspired was developed for the purpose of search and rescue and serve as a research platform for its locomotion analysis. The locomotion of snakes is by a differential [8] curve traveling in its body from the head to the tail and the traction it generates from the surface because of such a traveling wave. This has several controllable parameters like amplitude, frequency, phase difference, angular velocity etc. By changing these parameters the Snake robot can change its gait from sidewinding (as used by the desert snakes), crawling (like caterpillars) or even lift its hood up to look behind an obstacle.

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References

[1]
Snake robots by Dr. Gavin Miller: http://snakerobots.com
[2]
C.M.U Serpentine Lab: http://www.cs.cmu.edu/~biorobotics/projects/modsnake/modsnake.html
[3]
Nintendo Wii console http://en.wikipedia.org/wiki/Wii
[4]
Microsoft's sidewinder wheel http://en.wikipedia.org/wiki/Microsoft_SideWinder
[5]
Sriranjan Rasakatla, Madhava Krishna, Bipin Indurkhya Modular Legged Robotics System http://portal.acm.org/citation.cfm?id=1836845.1836858
[6]
Demo reel of Snake simulations (Sriranjan Rasakatla) http://www.youtube.com/watch?v=X3m0On-OtfI
[7]
Shigeo Hirose; Biologically Inspired Robots (Snake-like Locomotor and Manipulator), Oxford University Press(1993) http://wwwrobot.mes.titech.ac.jp/robot/snake/snake_mechanism/snake_mechanism_e.html
[8]
Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Choset, Justine Rembisz, Philip Gianfortoni, Allison Naaktgeboren, "Differential and piece wise diffectial gaits for Snake robots". Proc. of IEEE/RSJ 2007.

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cover image ACM Conferences
SA '10: ACM SIGGRAPH ASIA 2010 Posters
December 2010
67 pages
ISBN:9781450305242
DOI:10.1145/1900354
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 15 December 2010

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SA '10
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SA '10: SIGGRAPH ASIA 2010
December 15 - 18, 2010
Seoul, Republic of Korea

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Overall Acceptance Rate 178 of 869 submissions, 20%

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