| アイテムタイプ |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2019-04-05 |
| タイトル |
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タイトル |
Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration |
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言語 |
en |
| 言語 |
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言語 |
eng |
| キーワード |
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言語 |
en |
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主題 |
Snake Robot |
| キーワード |
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|
言語 |
en |
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主題 |
Redundant Robots |
| キーワード |
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言語 |
en |
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主題 |
Search and Rescue Robots |
| キーワード |
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言語 |
en |
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主題 |
and Inspection |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
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資源タイプ |
journal article |
| 著者 |
Takemori, Tatsuya
Tanaka, Motoyasu
Matsuno, Fumitoshi
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| 抄録 |
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内容記述タイプ |
Abstract |
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内容記述 |
This paper presents a method for designing the gait of a snake robot that moves in a complicated environment. We propose a method for expressing the target form of a snake robot by connecting curve segments whose curvature and torsion are already known. Because the characteristics of each combined shape are clear, we can design the target form intuitively and approximate a snake robot configuration to this form with low computational cost. In addition, we propose two novel gaits for the snake robot as a design example of the proposed method. The first gait is aimed at moving over a flange on a pipe, while the other is the crawler gait aimed at moving over rough terrain. We demonstrated the effectiveness of the two gaits on a pipe and rough terrain in experiments. |
| 書誌情報 |
en : IEEE Transactions on Robotics
巻 34,
号 5,
p. 1384-1391,
発行日 2018-10
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| 出版者 |
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出版者 |
IEEE (Institute of Electrical and Electronics Engineers) |
| ISSN |
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収録物識別子タイプ |
ISSN |
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収録物識別子 |
1552-3098 |
| DOI |
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関連タイプ |
isVersionOf |
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識別子タイプ |
DOI |
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関連識別子 |
10.1109/TRO.2018.2830346 |
| 権利 |
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権利情報 |
(C) 2018 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 |
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|
識別子タイプ |
DOI |
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関連識別子 |
https://doi.org/10.1109/TRO.2018.2830346 |
| 著者版フラグ |
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出版タイプ |
AM |
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出版タイプResource |
http://purl.org/coar/version/c_ab4af688f83e57aa |
TRO_2018_edited_finalVer (2.7 MB)
