EXPERIMENTAL STUDIES OF SERPENTINE ROBOT LOCOMOTION

O.A. Shmakov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Head of Department, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(921)923-78-80, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 18 October 2017.

Abstract
There is a way to form locomotive modes using the concept of virtual wheels that appear in the contact areas of a flexible body with a surface presented. A model of the snake robot 'ZmeeLok-3M', an experimental stand based on motion capture system and experimental procedure are described. The method of forming locomotive modes of snake robots is supported by the results of the experiment.

Key words
Snake robot, motion capture, locomotions, experiment, bio-inspired robots.

Bibliographic description 
Shmakov, O. (2017). Experimental studies of serpentine robot locomotion. Robotics and Technical Cybernetics, 4(17), pp.62-69.

UDC identifier
007.52:001.891.55

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