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GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control

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2 Author(s)
Klaassen, B. ; GMD-AiS, St. Augustin, Germany ; Paap, K.L.

Based on the experience with our first GMD-SNAKE, we now present the next generation robot, the GMD-SNAKE2, which is a robot for inspection tasks in areas difficult to access by humans. We aim to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of our robot we concentrate on a method for motion control. It allows a very flexible and consistent method of path planning and calculation where smooth curves are desired. It is applicable not only to snake-like movement, but to any wheeled robot which is able to control the curvature of its path

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Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

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