Development of a novel locomotion algorithm for snake robot

Khan, Md. Raisuddin and Billah, Md. Masum and Watanabe, Mitsuru Lukman and Shafie, Amir Akramin (2013) Development of a novel locomotion algorithm for snake robot. IOP Conference Series: Materials Science and Engineering, 53 (1). 012012-1. ISSN 1757-8981

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Abstract

A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation.

Item Type:	Article (Journal)
Additional Information:	3627/33783
Uncontrolled Keywords:	Novel Locomotion Algorithm
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Md. Raisuddin Khan
Date Deposited:	07 Jan 2014 09:25
Last Modified:	22 Jan 2015 09:39
URI:	http://irep.iium.edu.my/id/eprint/33783

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