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A bio-mimetic snake-like robot: Sensor based gait control

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3 Author(s)
Chen, T.L.T. ; Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei ; Shu-Hung Liu ; Jia-Yush Yen

This paper presents the design of a snake-like robot capable of moving with serpenoid motion presented by snakes in real world. A mechanism for measuring the contact between surface and robot is designed and finally, using the data collected by the sensors, a controller is designed for optimizing the motion on surfaces with different coefficients of friction. Experiments are conducted and results show the efficiency of the controller.

Published in:

Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on

Date of Conference:

23-25 Aug. 2008

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