@inproceedings{1ec44d3d3244401283a3fcf4199df0e1,
title = "Analysis of kinematics and dynamics of snake-like robot with joints of 4-DOF",
abstract = "Snake-like robot is more and more widespread attention in recent years, because of its Terrain adaptability and diverse forms of exercise. However, most existing snake-like robots are based on one or two degrees of freedom joints. This condition limits the motion diversity to some extent. In order to further enhance the speed and add the diversity of movement, the paper proposes a new 4-DOF joint, which consists of three rotating motor and a linear motor to achieve the three rotational degrees of freedom and a straight line freedom. It could help the robot adapt different environments. Besides the design of joints, we also analyze kinematics and dynamics equations of the robot. According to the simulation of the creeping movement of the snake-like robot with 4-DOF, we know that the robot can realize its ideal movement by utilizing the Serpenoid curve.",
keywords = "4-DOF joint, creeping movement, dynamics equations, kinematics equations",
author = "Liang Yan and Qian Yu and Zidong Zhou and Zongxia Jiao and Chen, \{Chin Yin\} and Chen, \{I. Ming\}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 ; Conference date: 15-06-2015 Through 17-06-2015",
year = "2015",
month = nov,
day = "20",
doi = "10.1109/ICIEA.2015.7334422",
language = "英语",
series = "Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1899--1903",
booktitle = "Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015",
address = "美国",
}