Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods

Abstract

A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe… (More)
DOI: 10.1109/IROS.2009.5354838

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@article{Wang2009DynamicMF, title={Dynamic modeling for locomotion-manipulation of a snake-like robot by using geometric methods}, author={Zhifeng Wang and Shugen Ma and Bin Li and Yuechao Wang}, journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2009}, pages={3631-3636} }