Sriranjan Rasakatla
ABSTRACT
In this paper we present a new gesture based control for snake robot using a custom developed accelerometer based data glove. This Snake robot which was biologically inspired was developed for the purpose of search and rescue and serve as a research platform for its locomotion analysis. The locomotion of snakes is by a differential [8] curve traveling in its body from the head to the tail and the traction it generates from the surface because of such a traveling wave. This has several controllable parameters like amplitude, frequency, phase difference, angular velocity etc. By changing these parameters the Snake robot can change its gait from sidewinding (as used by the desert snakes), crawling (like caterpillars) or even lift its hood up to look behind an obstacle.
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- Snake robots by Dr. Gavin Miller: http://snakerobots.comGoogle Scholar
- C.M.U Serpentine Lab: http://www.cs.cmu.edu/~biorobotics/projects/modsnake/modsnake.htmlGoogle Scholar
- Nintendo Wii console http://en.wikipedia.org/wiki/WiiGoogle Scholar
- Microsoft's sidewinder wheel http://en.wikipedia.org/wiki/Microsoft_SideWinderGoogle Scholar
- Sriranjan Rasakatla, Madhava Krishna, Bipin Indurkhya Modular Legged Robotics System http://portal.acm.org/citation.cfm?id=1836845.1836858 Google ScholarDigital Library
- Demo reel of Snake simulations (Sriranjan Rasakatla) http://www.youtube.com/watch?v=X3m0On-OtfIGoogle Scholar
- Shigeo Hirose; Biologically Inspired Robots (Snake-like Locomotor and Manipulator), Oxford University Press(1993) http://wwwrobot.mes.titech.ac.jp/robot/snake/snake_mechanism/snake_mechanism_e.html Google ScholarDigital Library
- Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Choset, Justine Rembisz, Philip Gianfortoni, Allison Naaktgeboren, "Differential and piece wise diffectial gaits for Snake robots". Proc. of IEEE/RSJ 2007.Google Scholar
Index Terms
- Gesture based control of snake robot and its simulated gaits
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