Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)
- 2002.06e
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- Pages.189-192
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- 2002
Design and Implementation of Snake Robot with 8 Module
8개의 모듈로 구성된 뱀 로봇
Abstract
This paper has been studied the movement of snake robot. In this paper we developed a simulator to simulate the creeping locomotion of a snake robot. This Robot makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Using the nonslip condition of the wheels, the robot gains propulsion by means of constrained forces on the wheels caused by bending the joints. The results of simulations show that smooth lateral undulatory motion is achived.
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