제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2005년도 ICCAS
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- Pages.947-950
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- 2005
Multi-Thread based Synchronization of Locomotion Control in Snake Robots
- Rai, Laxmisha (School of Electrical Engineering and Computer Science, Kyungpook National University (KNU)) ;
- Kang, Soon-Ju (School of Electrical Engineering and Computer Science, Kyungpook National University (KNU))
- 발행 : 2005.06.02
초록
In this paper, we present an approach to control the locomotion of snake robot with concurrent programming model constructed using threads and semaphores. The multi-thread based concurrent programming model adds the flexibility to design and synchronize the movement of snake robots as compared with microcontroller and mechanical based approaches. We have designed a physical snake robot using LEGO sensors and actuator blocks and the wave motion of the snake robot is generated by multi-thread based concurrent programming under RT-Linux. The different robot movements in a desired direction along with different types of snake movements are achieved using angle sensors.