An effective control method that achieves movement over a small ridge as an example of three-dimensional (3D) snake-like creeping locomotion is presented. The creeping robot is modeled as a continuum with zero thickness capable of generating bending moment at arbitrary points. Under a simplified contact condition, the optimal bending moment distribution in terms of a quadratic cost function of input can be obtained as a function of curvature by solving an isoperimetric problem. The solution is well suited to an articulated body consisting of finite number of links. The model is demonstrated through simulations and experiments using a prototype robot to be effective for traversing smooth 3D terrain.
This paper proposes an eight-wheeled robot which Is able to climb over the uneven terrain for rescue, demining, other works. In order to perform these works rrithout human sssistantance, robots must have L e ability to move on rugged terrain. Wheeled vehicles have advantages for moving efficiency and speed but fhe disadvantage is that the diameter of the wheel limits which obstacles can be surmounted. This paper proposes a mechanism which ellminates the disadvantages of a wheeled system. This mechanism is applied to a self. standing type eight-wheeled robot which is able to climb up and down stairs by utilizing a command form remote controller. Experimental results demonstrate the elleaivenes of this mechanism and robot. 2440 0-7803-8463-6104/$20.00 02004 IEEE
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