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
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”.
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