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A Study on Sinus-Lifting Motion of a Snake Robot With Sequential Optimization of a Hybrid System
https://uec.repo.nii.ac.jp/records/9291
https://uec.repo.nii.ac.jp/records/92914bfa6846-aa12-4bce-9cc1-7c6e0623cc13
名前 / ファイル | ライセンス | アクション |
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2014_TASE (1.4 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-07-23 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | A Study on Sinus-Lifting Motion of a Snake Robot With Sequential Optimization of a Hybrid System | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Biologically inspired robots | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Snake robots | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Hybrid systems | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Optimality | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Serpenoid curve | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Toyoshima, Satoshi
× Toyoshima, Satoshi× Tanaka, Motoyasu× Matsuno, Fumitoshi |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In this paper, we consider “sinus-lifting motion” of a living snake, in which a snake lifts up some parts of its body from the ground, and switches the lifted parts dynamically. It is not clear whether imitating the sinus-lifting motion is the best locomotion or not for a snake like robot. The aim of this paper is to propose an appropriate motion pattern to a snake like robot considering the optimality of the sinus-lifting motion. We introduce two physical parameters, constraint forces and energy efficiency, as cost functions to optimize and propose switching strategies for generating optimal motion patterns of a snake like robot. | |||||
書誌情報 |
en : IEEE Transactions on Automation Science and Engineering 巻 11, 号 1, p. 139-144, 発行日 2014-01 |
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出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1545-5955 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TASE.2013.2273356 | |||||
権利 | ||||||
権利情報 | © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TASE.2013.2273356 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |