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metadata.conference.dc.title: Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
metadata.conference.dc.contributor.*: Samsi Md Said
Amir Sharizam Ismail
Ishkandar Baharin
metadata.conference.dc.subject: Robot Forward Kinematic
Binary Robot
Hyper-Redundant Robot Nov-2014
metadata.conference.dc.publisher: IEEE
metadata.conference.dc.identifier.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
metadata.conference.dc.description.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.
metadata.conference.dc.description: Full text available in IEEE XPlore :URL:
metadata.conference.dc.identifier.uri: http://localhost/xmlui/handle/123456789/9731 Internation Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
metadata.conference.dc.conference.year: 2014
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