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

Samsi Md Said; Amir Sharizam Ismail; Ishkandar Baharin; (UniKL MFI)

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dc.contributor.author	Samsi Md Said
dc.contributor.author	Amir Sharizam Ismail
dc.contributor.author	Ishkandar Baharin
dc.contributor.author	(UniKL MFI)
dc.date.accessioned	2015-03-30T04:52:21Z
dc.date.available	2015-03-30T04:52:21Z
dc.date.issued	2014-11
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	en_US
dc.identifier.uri	http://localhost/xmlui/handle/123456789/9731
dc.description	Full text available in IEEE XPlore :URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7057376&isnumber=7057367	en_US
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.	en_US
dc.publisher	IEEE	en_US
dc.subject	Robot Forward Kinematic	en_US
dc.subject	Binary Robot	en_US
dc.subject	Hyper-Redundant Robot	en_US
dc.title	Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System	en_US
dc.conference.name	Internation Conference on Ubiquitous Robots and Ambient Intelligence (URAI)	en_US
dc.conference.year	2014	en_US