Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 한창수 | - |
dc.date.accessioned | 2020-01-20T04:47:11Z | - |
dc.date.available | 2020-01-20T04:47:11Z | - |
dc.date.issued | 2019-07 | - |
dc.identifier.citation | International Journal of Control, Automation and Systems, v. 17, No. 10, Page. 2565-2573 | en_US |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.issn | 2005-4092 | - |
dc.identifier.uri | https://link.springer.com/article/10.1007%2Fs12555-019-0074-9 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/122058 | - |
dc.description.abstract | Modular snake robot has the ability to maneuver narrow, complex, and unstructured environments. In recent years, Snake robot with 3-D locomotion has been studied by researchers for inspection of pipes, and stairs climbing etc. One of the effective approaches to accomplishing such complex tasks is by designing gaits for modular snake robot. In this paper, A Spiral curve gait along with rolling motion is proposed to adapt to the changes in the pipe diameter while moving on the pipe, which cannot be overcome by a simple helical rolling motion. The joint angles are calculated using Bellow’s model, based on the curvature and torsion of the backbone curve. We validated the proposed gait by simulating thirty degrees of freedom modular snake robot in Open Dynamics Engine simulator. | en_US |
dc.description.sponsorship | This research was supported by the Higher Education Commission of Pakistan by the award letter No. HRDI-UESTPs/Batch-IV/Korea/2016/1379 | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | Korean Institute of Electrical Engineers | en_US |
dc.subject | Modular snake robot | en_US |
dc.subject | pipe inspection | en_US |
dc.subject | redundant robot | en_US |
dc.subject | snake-like robot | en_US |
dc.title | A Spiral Curve Gait Design for a Modular Snake Robot Moving on a Pipe | en_US |
dc.type | Article | en_US |
dc.relation.no | 10 | - |
dc.relation.volume | 17 | - |
dc.identifier.doi | 10.1007/s12555-019-0074-9 | - |
dc.relation.page | 2565-2573 | - |
dc.relation.journal | International Journal of Control, Automation and Systems | - |
dc.contributor.googleauthor | Yaqub, Sheraz | - |
dc.contributor.googleauthor | Ali, Ahmad | - |
dc.contributor.googleauthor | Usman, Muhammad | - |
dc.contributor.googleauthor | Zuhaib, Khalil Muhammad | - |
dc.contributor.googleauthor | Khan, Abdul Manan | - |
dc.contributor.googleauthor | An, Boyoung | - |
dc.contributor.googleauthor | Moon, Hyungi | - |
dc.contributor.googleauthor | Lee, Ji-Yeong | - |
dc.contributor.googleauthor | Han, Changsoo | - |
dc.relation.code | 2019019261 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DEPARTMENT OF ROBOT ENGINEERING | - |
dc.identifier.pid | cshan | - |
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