A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry |
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| Authors: | WANG ZhiFeng MA ShuGen LI Bin & WANG YueChao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China |
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| Affiliation: | WANG ZhiFeng1,3,MA ShuGen1,2,LI Bin1 & WANG YueChao1 1State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China,2Department of Robotics,Ritsumeikan University,Shiga-ken 525-8577,Japan,3Graduate University of Chinese Academy of Sciences,Beijing 100039 |
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| Abstract: | A snake-like robot, whose body is a seried-wound articulated mechanism, can move in various environments. In addition, when one end is fixed on a base, the robot can manipulate objects. A method of dynamic modeling for locomotion and manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. The transformation from locomotion to manipulation is a mechanism reconfiguration, that is, the robot in locomotion has not a fixed base, but it in manipulation has one. Fir... |
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| Keywords: | snake-like robot dynamics unified model differential geometry locomotion manipulation |
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