Limbless locomotion: learning to crawl
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (10504729), 3001-3006
- https://doi.org/10.1109/robot.1999.774053
Abstract
This research develops a general framework for teaching a complex electromechanical robot to become mobile where sequences of body motions alone provide progression. The framework incorporates a learning technique, physical modeling, metrics for evaluation, and the transfer of results to a snake-like mobile robot. The mechanism and control of a 20 degree of freedom snake robot is described and multiple gaits are demonstrated including novel non-snake-like gaits. This research furthers the design and control of limbless robots.Keywords
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