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The shape-shifting robot is one of the kinds of the robot and it can change it's configuration according to the environment. A method is proposed to solve the shortcomings of the traditional method of robot's chain turning, which can shorten the time and radius of turning. The turning resistance moment can be also reduced. The mathematical model is built and the resistance torque and required force...
Direction control is an important part of the study on the snake-like robot. A direction control algorithm which is based on the passive creeping, named continuous direction control, is proposed. This method controls the movement direction of the robot's head by the exponential function of the reference angle amplitude, and makes the body follow the head by adjusting the torque amplitude of the body...
A shape-shifting robot, which named “AMOEBA-I”, has diverse configurations. The accessibility of the robot can be reinforced in the narrow space by changing the configurations. In this paper, a path planning method is presented corresponding to the unique reconfigurable ability of the robot. This method can automatically adjust the computational cost according to the distribution of obstacles in robot's...
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