Dynamic Manipulability of a Snake-like Robot and its Effect for Sinus-lifting Motion

Masashi Tsuda; Shigeki Nakaura; Mitsuji Sampei

doi:10.11499/sicep.2004.0_57_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_57_4

会議情報

主催: The Society of Instrument and Control Engineers

共催: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Dynamic Manipulability of a Snake-like Robot and its Effect for Sinus-lifting Motion

Masashi Tsuda, *Shigeki Nakaura, Mitsuji Sampei

著者情報

キーワード: Snake-like robot, Dynamic manipulability, Sinus-lifting motion

会議録・要旨集フリー

p. 57

詳細

抄録

This paper deals with sinus-lifting motion which is snake motion such as raising part of body. Our approach is to analyze this motion in the sense of control theory. The concept of dynamic manipulability of a snake-like robot is applied to general locomotion control. Numerical simulations show that sinus-lifting motion improves the manipulability and affect the period of body shape.

責任著者(Corresponding author)

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