Effect of Bending Angle Variation tonake Robot Locomotion Efficiency
Date Issued
2009
Date
2009
Author(s)
Lin, Yu-Min
Abstract
The studies on snake robot mostly adopt serpentine movement as the way of locomotion. Hirose proposed a famous equation to describe the serpentine motion which has been widely used by the researchers. According to the equation, snakes use constant amplitude of bending angles through the whole body. However, the amplitudes are not equivalent in the practical observation and analysis. Amplitudes are various in the different parts of snake. The phenomenon can be applied to improve the equations. he improvement to snake robot locomotion is decided by the efficiency analysis. Some special moving modes of snake robot are proposed to discuss the locomotion efficiency. These modes are the application from the observation. Efficiency discussion includes simulation and experiment, both results show the better efficiency with the improvements.
Subjects
snake robot
snake locomotion
serpentine
bending angle
locomotion efficiency
Type
thesis
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ntu-98-R96921051-1.pdf
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