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Limbless locomotion: learning to crawl

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1 Author(s)
Dowling, K. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

This research develops a general framework for teaching a complex electromechanical robot to become mobile where sequences of body motions alone provide progression. The framework incorporates a learning technique, physical modeling, metrics for evaluation, and the transfer of results to a snake-like mobile robot. The mechanism and control of a 20 degree of freedom snake robot is described and multiple gaits are demonstrated including novel non-snake-like gaits. This research furthers the design and control of limbless robots

Published in:

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

Date of Conference: