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个人信息Personal Information
教授
博士生导师
硕士生导师
主要任职：Professor, Head of Lab of Intelligent System
其他任职：大连市工业无线传感器网络工程实验室主任
性别：男
毕业院校：英国杜伦大学
学位：博士
所在单位：控制科学与工程学院
学科：控制理论与控制工程. 模式识别与智能系统. 检测技术与自动化装置
办公地点：海山楼A0624
课题组网址http://lis.dlut.edu.cn/
联系方式：0411-84709010 wangzl@dlut.edu.cn
电子邮箱：wangzl@dlut.edu.cn
Mechanism Design and Locomotion of a Snake Robot
点击次数：
论文类型：会议论文
发表时间：2012-06-26
收录刊物：EI、CPCI-S、Scopus
卷号：194
期号：VOL. 2
页面范围：731-+
摘要：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.