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JRM Vol.18 No.5 pp. 521-528
doi: 10.20965/jrm.2006.p0521
(2006)

Paper:

Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 –

Makoto Mori and Shigeo Hirose

Department of Mechanical & Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

Received:
July 4, 2005
Accepted:
June 9, 2006
Published:
October 20, 2006
Keywords:
snake-like robot, ACM, shifting, rolling, side-winding
Abstract

We discuss basic control strategies of a three-dimensional snake-like robot. Introduced strategies are composed of shifting and rolling, and their superimposing control. This paper clarified the generation of control commands for these movements and verified the feasibility of our proposal in experiments using the three-dimensional snake-like robot “ACM-R3”.

Cite this article as:
M. Mori and S. Hirose, “Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 –,” J. Robot. Mechatron., Vol.18, No.5, pp. 521-528, 2006.
Data files:
References
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Last updated on Feb. 21, 2020