1A1-A11 Distance based gait control for a pole climbing robotic snake(Bio-Mimetics and Bio-Mechatronics (1))

抄録

A real-time simulation assisted gait modification approach for a pole climbing robot snake was developed to minimize gait and implementation errors. A preliminary parameterized gait was improved by adjustments based on the expected distance, in order to ensure contact with the pole was properly maintained. A real-time simulation with high physical accuracy was used to provide the distance information.