Title

Study on the various locomotion and dynamic analysis of the snake robots

Alternative Title

뱀 로봇의 다양한 주행 모션과 동역학적 분석에 대한 연구

DGIST Authors

Junseong Bae ; Dongwon Yun ; Seonghun Lee

Advisor

윤동원

Co-Advisor(s)

Seonghun Lee

Issued Date

2021

Awarded Date

2021/02

Citation

Junseong Bae. (2021). Study on the various locomotion and dynamic analysis of the snake robots. doi: 10.22677/thesis.200000365559

Type

Thesis

Subject

Snake robot, Driving assistant mechanism, Dynamic analysis, Newton-Euler method, 뱀 로봇, 주행보조기구, 동역학적 분석, 뉴턴-오일러 방식

Table Of Contents

Ⅰ. Introduction
Ⅱ. Development of the snake robot
2.1 Manufacturing the robot
2.2 Development of the gait types
2.3 Driving assistant mechanism
Ⅲ. Dynamic analysis
3.1 Newton-Euler method
3.2 Dynamic analysis of driving assistant mechanism
Ⅳ. Conclusion

URI

http://dgist.dcollection.net/common/orgView/200000365559
http://hdl.handle.net/20.500.11750/16718

DOI

10.22677/thesis.200000365559

Degree

Master

Department

Robotics Engineering

Publisher

DGIST

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