Efficient locomotion on non-wheeled snake-like robots

Colorado, Julian; Barrientos, Antonio; Rossi, Claudio; Garzon Oviedo, M.A.; Galán, María; del Cerro, Jaime

Efficient locomotion on non-wheeled snake-like robots

Conference paper (2010)

Authors

Julian Colorado Universidad Politécnica de Madrid

Antonio Barrientos Universidad Politécnica de Madrid

Claudio Rossi Universidad Politécnica de Madrid

M.A. Garzon Oviedo Robotics and Cybernetics Group, Universidad Politécnica de Madrid

María Galán Universidad Politécnica de Madrid

Jaime del Cerro Universidad Politécnica de Madrid

Affiliation

External organisation

Bio-inspired locomotion Crawling robots Serpenoid curves Snake bio-mechanisms

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Published Date

07-12-2010

Language

English

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Abstract

This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and analysis of efficient serpentine locomotion based on simulation results.