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dc.contributor.author Bae, Junseong ko
dc.contributor.author Kim, Myeongjin ko
dc.contributor.author Song, Bongsub ko
dc.contributor.author Jin, Maolin ko
dc.contributor.author Yun, Dongwon ko
dc.date.accessioned 2021-01-22T07:10:09Z -
dc.date.available 2021-01-22T07:10:09Z -
dc.date.created 2020-11-13 -
dc.date.issued 2020-11 -
dc.identifier.citation Applied Sciences, v.10, no.21, pp.1 - 18 -
dc.identifier.issn 2076-3417 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/12684 -
dc.description.abstract Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments. It was possible to overcome grasslands and a 27 degrees slope without using additional driving controllers. In conclusion, we expect that a snake robot can conduct a wide range of missions well, such as exploring disaster sites and rough terrain, by using the proposed mechanism. © 2020 by the authors. Licensee MDPI, Basel, Switzerland. T. -
dc.language English -
dc.publisher MDPI AG -
dc.title Snake Robot with Driving Assistant Mechanism -
dc.type Article -
dc.identifier.doi 10.3390/app10217478 -
dc.identifier.wosid 000588957500001 -
dc.identifier.scopusid 2-s2.0-85094140419 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.contributor.localauthor Yun, Dongwon -
dc.contributor.nonIdAuthor Jin, Maolin -
dc.identifier.citationVolume 10 -
dc.identifier.citationNumber 21 -
dc.identifier.citationStartPage 1 -
dc.identifier.citationEndPage 18 -
dc.identifier.citationTitle Applied Sciences -
dc.type.journalArticle Article -
dc.description.isOpenAccess Y -
dc.subject.keywordAuthor snake robot -
dc.subject.keywordAuthor driving assistant mechanism -
dc.subject.keywordAuthor slope -
dc.subject.keywordAuthor dynamic analysis -
dc.subject.keywordPlus LOCOMOTION -
dc.subject.keywordPlus DESIGN -


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