期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/53627
语种：English
出版社：SAGE Publications
摘要：This paper provides theoretical analysis of some key features of snake-like robot locomotion. Inspired by the moving mechanism of animals, the snake robot built with simple modules is numerically controlled. A most common method for its locomotion is to apply a central pattern generator to efficiently generate the control signals of gait and movement. This paper analyses stability, crawling gait, moving velocity, climbing capability, the capability to cross ditches and avoid obstacles, etc. Mathematical models and simulations show the theoretical validity and robot capabilities.
关键词：Modular Robots; Central Pattern Generator; Snake Robot; Locomotion; Gait
