Cart (Loading....) | Create Account
Close category search window
 

Study on self-contained and terrain adaptive active cord mechanism

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Endo, G. ; Dept. of Mechano-Aerospace Eng., Tokyo Inst. of Technol., Japan ; Togawa, K. ; Hirose, S.

A snake is able to attain high terrain adaptability and versatile locomotion even though it has an extremely simple one-dimensional configuration. In order to utilize these functions for robotics, we have adapted the basic biological machine elements of the snake into the active cord mechanism (ACM). We have discussed the creeping dynamics and applications to manipulation. In this paper, we develop a new experimental model named “ACMR-R1” with a self-contained system, which realizes higher mobility and terrain adaptability compared with the past model. Next, gliding experiments on ice were carried out in order to demonstrate that the creeping motion is the same as the principle of skating. Finally, a new terrain adaptive control method for sloping surfaces is proposed, and we verified the effectiveness of it by slope climbing experiments

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

1999

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.