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뱀의 구동원리를 이용한 4족보행 로봇의 개발

Title
뱀의 구동원리를 이용한 4족보행 로봇의 개발
Translated Title
Development of Quadrupedal Robot Mimicking the Motion of Snake
Authors
김성현김예승김민송송진혁윤동원
DGIST Authors
김성현; 김예승; 김민송; 송진혁; 윤동원
Issue Date
2019-09
Citation
로봇학회 논문지, 14(3), 196-202
Type
Article
Article Type
Article
Author Keywords
Snake RobotQuadruped Walking RobotHyper-Redundant RobotSide Wind MotionSinus Lifting Motion
ISSN
1975-6291
Abstract
Snake robots are slower than wheeled robots or legged robots, while they have an excellent terrainability in a disastrous area. Considering their advantages and disadvantages, a legged robot whose legs are snake robots, ‘Quadnake’ was proposed in this research. Five motions of the snake were analyzed. Applying these motions, Quadnake could implement eight kinds of motions which snake robots and quadruped walking robots can implement. As a result of it, Quadnake can have the advantages of both a snake robot and a walking robot. It is expected to move stably in a harsh terrain with snake’s motion and move fast with walking.
URI
http://hdl.handle.net/20.500.11750/10664
http://db.koreascholar.com/article?code=378894
DOI
10.7746/jkros.2019.14.3.196
Publisher
한국로봇학회
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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