[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5391/JKIIS.2003.13.1.070

Research about Intelligent Snake Robot 지능형 뱀 로봇에 관한 연구

Kim, Seong-Joo (중앙대학교 일반대학원 전자전기공학부)
Kim, Jong-Soo (중앙대학교 일반대학원 전자전기공학부)
Jeon, Hong-Tae (중앙대학교 일반대학원 전자전기공학부)

Publication Information

Journal of the Korean Institute of Intelligent Systems / v.13, no.1, 2003 , pp. 70-75 More about this Journal

Abstract

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

Keywords

Mobile Robots; Snake; Modular Robot; Collision Avoidance;

Citations & Related Records

Reference

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