Learn More
Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly formulate the kinematics and the dynamics of 3-dimensional snake robots and then analyze the sinus-lifting creeping motion as an example. In this study, the sinus-lifting motion was imaged as the(More)
2-Acetamido-2-deoxy-D-galactose (GalNAc) is a common monosaccharide found in biologically functional sugar chains, but its availability is often limited due to the lack of abundant natural sources. In order to produce GalNAc from abundantly available sugars, 2-acetamido-2-deoxy-D-glucose (GlcNAc) was converted to GalNAc by a one-pot reaction using three(More)
In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with(More)
In this paper, development of a CPG-based controllers for meandering locomotion of a snake-like robot that can adapt to changing friction is presented. The controllers are composed of two kinds of CPG models and receives environmental information from friction force sensors attached on the bottom of the robot. Adaptive CPG parameters are obtained using(More)