Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System

Please use this identifier to cite or link to this item: http://hdl.handle.net/123456789/9731

Title:	Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
Authors:	Samsi Md Said Amir Sharizam Ismail Ishkandar Baharin (UniKL MFI)
Keywords:	Robot Forward Kinematic Binary Robot Hyper-Redundant Robot
Issue Date:	Nov-2014
Publisher:	IEEE
Citation:	Said, Samsi Md; Ismail, Amir Sharizam; Baharin, Ishkandar, "Clustering four bit sequence control for serpentine gait of hyper redundant robot system," Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on , vol., no., pp.397,402, 12-15 Nov. 2014 doi: 10.1109/URAI.2014.7057376
Abstract:	Snake robot or hyper redundant robot is very complex robotic system since it posses very large active and passive degree of freedom. To simplify the design, modeling and locomotion, a simpler approach is needed. In this paper a clustering of four bit bang-bang sequence control is proposed for every robot module to achieve serpentine shape configuration or gait. Next the Denavit Harternberg Method is used to model the segment or module involved. Scalable combination of this approach will become complex system of snake robot for serpentine gait.
Description:	Full text available in IEEE XPlore :URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7057376&isnumber=7057367
URI:	http://localhost/xmlui/handle/123456789/9731
Appears in Collections:	Conference Paper

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