Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model / 複雑環境におけるヘビ型ロボットの連続曲線モデルを用いた動作設計と制御

Description

京都大学 / 新制・課程博士 / 博士(工学) / 甲第23505号 / 工博第4917号 / 新制||工||1768(附属図書館) / 京都大学大学院工学研究科機械理工学専攻 / (主査)教授 松野 文俊, 教授 泉田 啓, 教授 小森 雅晴 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DGAM

Links & Downloads

1. http://hdl.handle.net/2433/266033
2. 10.14989/doctor.k23505
3. 14301

Tags

Snake robot

Biologically-Inspired Robots

Redundant Robots

Search and Rescue Robots

Continuous Curve Model

500

Additional Fields

Identifer	oai:union.ndltd.org:kyoto-u.ac.jp/oai:repository.kulib.kyoto-u.ac.jp:2433/266033
Date	24 September 2021
Creators	Takemori, Tatsuya
Contributors	竹森, 達也, タケモリ, タツヤ
Publisher	Kyoto University, 京都大学
Source Sets	Kyoto University
Language	English
Detected Language	English
Type	doctoral thesis, Thesis or Dissertation
Rights	学位規則第9条第2項により要約公開, [1]“Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration, ” IEEE Transactions on Robotics, vol.34, no 5, pp.1384-1391, DOI:10.1109/TRO.2018.2830346 [2] ""Ladder Climbing with a Snake Robot, "" IROS 2018: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.8140-8145. DOI:10.1109/IROS.2018.8594411 [3]“Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments, ” IEEE Transactions on Robotics (Early Access), DOI:10.1109/TRO.2021.3063438 [4]“Adaptive Helical Rolling of a Snake Robot to a Straight Pipe with Irregular Cross-sectional Shape”, IEEE Transactions on Robotics (査読中)