周瑞仁2006-07-252018-07-102006-07-252018-07-102005-07-31http://ntur.lib.ntu.edu.tw//handle/246246/10453In 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.application/pdf300771 bytesapplication/pdfzh-TW國立臺灣大學生物產業機電工程學系暨研究所Snake robotdynamicsmicrocontrollersvelocity planningreporthttp://ntur.lib.ntu.edu.tw/bitstream/246246/10453/1/932212E002051.pdf