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http://dx.doi.org/10.7746/jkros.2019.14.3.196

Development of Quadrupedal Robot Mimicking the Motion of Snake  

Kim, Seonghyeon (DGIST)
Kim, Yeseung (DGIST)
Kim, Minsong (DGIST)
Song, Jinhyeok (DGIST)
Yun, Dongwon (Department of Robotics, DGIST)
Publication Information
The Journal of Korea Robotics Society / v.14, no.3, 2019 , pp. 196-202 More about this Journal
Abstract
Snake robots are slower than wheeled robots or legged robots, while they have an excellent terrainability in a disastrous area. Considering their advantages and disadvantages, a legged robot whose legs are snake robots, 'Quadnake' was proposed in this research. Five motions of the snake were analyzed. Applying these motions, Quadnake could implement eight kinds of motions which snake robots and quadruped walking robots can implement. As a result of it, Quadnake can have the advantages of both a snake robot and a walking robot. It is expected to move stably in a harsh terrain with snake's motion and move fast with walking.
Keywords
Snake Robot; Quadruped Walking Robot; Hyper-Redundant Robot; Side Wind Motion; Sinus Lifting Motion;
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