Biologically inspired robots: snake-like locomotors and manipulators
Living systems often exhibit a fascinating repertoire of phenomena that inspire new engineering solutions to old problems. This book is an account of the author's investigations of the locomotion of snakes and the application of his findings to a new class of robots displaying snake-like motions. The author expertly presents the case that robots in which whole mechanisms move have many potential applications that should be fully exploited in the future when the pertinent technological developments have been achieved. This unique work will be interesting to both robotics engineers and zoologists.
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THE LOCOMOTIVE DYNAMICS OF THE ACTIVE
THE MORPHOLOGY OF CREEPING MOVEMENTS
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a-adaptive principle ACM body ACM's Active Cord Mechanism actuators adaptive angle signals artificial creeping artificial turf axial length basic bending angle biomechanical body axis Chapter characteristics circuit clothoid curve clothoid spiral consider control system creeping movements CT arm degrees of freedom derived drive endoscope engineering Equation experiment experimental expressed Figure friction coefficient ratio function garter snake gliding configuration gliding surface gripping kinematic KR-II lateral-inhibition type measurements method mode of movement motive force motor muscles multi-joint manipulator muscular force distribution normal direction normal force nuclear fusion oblique rotation mechanism output parameter possible prototype pulleys reactor regular creeping motion relation robot sawtooth wave segment serpenoid curve shift control shown in Fig shows sine wave snake moving speed structure tactile sensors tendon traction force torque distribution trunk unit variables vector velocity vertebrae vertebral axis weight winding angle winding track wire zero-order hold