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中文
Wang Zhelong

Professor
Supervisor of Doctorate Candidates
Supervisor of Master's Candidates


Academic Titles:Professor, Head of Lab of Intelligent System
Other Post:自动化技术研究所所长
Gender:Male
Alma Mater:University of Durham
Degree:Doctoral Degree
School/Department:School of Control Science and Engineering
Discipline:Control Theory and Control Engineering
Pattern Recognition and Intelligence System
Detection Technology and Automation Device
Business Address:Lab of Intelligent System
http://lis.dlut.edu.cn/
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Current position: 英文主页 >> Scientific Research >> Paper Publications
Mechanism Design and Locomotion of a Snake Robot

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Indexed by:Conference Paper

Date of Publication:2012-06-26

Included Journals:Scopus、CPCI-S、EI

Volume:194

Issue:VOL. 2

Page Number:731-+

Abstract:As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. In the paper, a snake-like robot based on cylinder module is developed. The robot prototype consists of eleven modules that are connected by revolute joints. Each joint has two degrees of freedom and allows bending in two mutually orthogonal planes. The serpenoid curve is considered as the control law and control parameters of snake curve are chosen by simulation and adjusted after experiment. Experimental results of snake robot show that the gait based on serpentine curve is reasonable and controlled easily.

Address: No.2 Linggong Road, Ganjingzi District, Dalian City, Liaoning Province, P.R.C., 116024