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The increasing prospect of electric drive vehicles has led many different control schemes to apply on the driving system. Differential speed steering which do not use traditional steering mechanism is studied on a four-wheel-driving vehicle. By comparison with the traditional Ackerman-steered vehicle, differential-steered method shown its advantage on the simple structure. However, since the steering...
As we know, a snake-like robot imitating the locomotion of real snakes can adapt to many kinds of environments. A successful collision-free behavior is necessary for adaptive locomotion of the snake-like robot. Many researchers have used Amplitude Modulation Method (AMM) to realize the turn motion of the snake robot. However, most of them are only qualitative studies without any concrete analysis...
Inspired from the natural motion of snakes, a head-navigated locomotion is proposed for snake-like robots in this paper. Different from the traditional serpentine motion, the head of the snake-like robot would always maintain its direction along the forward direction of the whole robot. By utilizing this particular characteristic, the obstacles in front of the undulatory motion could be detected conveniently...
To realize the obstacle avoidance of a snake-like robot in unstructured environment, an asymmetric locomotion of snake-like robot is introduced. Imitating from the locomotion of natural snakes, the turn motion and the round motion of the snake-like robot are analyzed respectively. A CPG-based control system with parameter-transmitting characteristics is developed for control of the asymmetric locomotion...
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