2010年
Optimal Shape of a Snake Robot for Jumping
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
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- 開始ページ
- 697
- 終了ページ
- 702
- 記述言語
- 英語
- 掲載種別
- DOI
- 10.1109/ROBOT.2010.5509673
- 出版者・発行元
- IEEE
In this paper, we discuss an optimal shape of the grounded part of a snake robot with passive wheels for jumping. First, we derive a relationship between constraint forces for the wheels and necessary friction forces, and propose a constraint force ellipse. Next, we introduce an evaluation index for the optimal shape of the grounded part (base part) of a snake robot using the constraint force ellipse. Finally, in order to demonstrate the validity of the optimal shape that minimizes the evolution index, simulations have been carried out.
- リンク情報
- ID情報
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- DOI : 10.1109/ROBOT.2010.5509673
- ISSN : 1050-4729
- eISSN : 2577-087X
- Web of Science ID : WOS:000284150003102