Design and forward kinematic analysis of a robotic snake

Migadis, G; Kyriakopoulos, KJ

dc.contributor.author	Migadis, G	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:41:21Z
dc.date.available	2014-03-01T02:41:21Z
dc.date.issued	1997	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30463
dc.subject	Design Guideline	en
dc.subject	Kinematic Analysis	en
dc.subject	Mobile Robot	en
dc.subject	Robot Design	en
dc.subject	and Forward	en
dc.subject.other	Control theory	en
dc.subject.other	Kinematics	en
dc.subject.other	Articulated robots	en
dc.subject.other	Snake like robots	en
dc.subject.other	Mobile robots	en
dc.title	Design and forward kinematic analysis of a robotic snake	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.1997.606876	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.1997.606876	en
heal.publicationDate	1997	en
heal.abstract	In this paper a new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. The shape and motion capabilities of biological snakes are adopted as generic design guidelines. We propose a multiarticulated mobile robot, with a body consisting of repeating modules, capable for both moving efficiently and reaching points inside complicated or unstructured areas, where human personnel cannot reach or work properly. An analysis of the basic design along with most of the component specifications is presented. Finally, we present its forward kinematics, as a first step towards controlling it.	en
heal.publisher	IEEE, Piscataway, NJ, United States	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.1997.606876	en
dc.identifier.volume	4	en
dc.identifier.spage	3493	en
dc.identifier.epage	3498	en