![]() ![]() The robot could also perform snake-like undulatory locomotion driven by differential motions of the wheels at the head segment. By actuating the segments following a peristaltic wave-like gait, the robot as a whole could perform earthworm-like rectilinear crawling. In detail, the SWL-Robot consists of six earthworm-like body segments interconnected by rotational joints and a head segment equipped with a couple of independently driven wheels. Two fundamentally different locomotion mechanisms, the earthworm’s peristaltic rectilinear locomotion and the snake’s lateral undulation, are synthesized in the SWL-Robot design. ![]() Inspired by the morphology characteristics and the locomotion mechanisms of the earthworm, and the snakes’ morphology characteristics and motivated by the demands for multi-modal locomotion robots in variable working environments, this paper presents a novel bi-modal robot named as Snake-Worm Locomotion Robot (SWL-Robot). ![]()
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