彈性體機器蛇之設計與導航(1/2)
Date Issued
2005-07-31
Date
2005-07-31
Author(s)
周瑞仁
DOI
932212E002051
Abstract
In this research, a snake robot with flexible connectors and distributed
control system was developed and velocity planning was also investigated under the
constraints of path, kinematics and the dynamics of the robot. The robot includes five
modules which are connected by flexible springs. Each module is driven by two
motors and controlled in a differential way for its direction and speed and coordinated
and controlled by five microcontrollers. The flexible connectors make the robot’s
motion smoother and more snake-like in its movement. However, the elastic restoring
force and torque, due to longitudinal extension or compression, and lateral bending of
springs greatly affect the behavior of the snake robot’s movement. A properly
designed and controlled snake robot with a camera could track the planned path
accurately and smoothly without sliding and losing steps.
Subjects
Snake robot
dynamics
microcontrollers
velocity planning
Publisher
臺北市：國立臺灣大學生物產業機電工程學系暨研究所
Type
report
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932212E002051.pdf
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