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Dynamics and Control of a Snake Robot Rectilinear Motion

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Aspects of Computational Intelligence: Theory and Applications

Part of the book series: Topics in Intelligent Engineering and Informatics ((TIEI,volume 2))

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Abstract

The paper deals with a snake robot rectilinear motion on the flat surface. At first, biological snake rectilinear motion observed in the nature is introduced. Based on this the transformation of biological snake body to the mechanical system is established. After pattern gait design and motion conditions introduction the mathematical model of snake robot rectilinear motion is established. Subsequently an average velocity of motion is derived. From the equation of average velocity the optimal number of masses is derived in order to maximum system velocity. The average velocity courses for different pairs of materials in the graph are shown. In the next section a feedback control system for masses displacement is introduced. For this purpose PD regulator is used. In conclusion the summary of study and simulation are done.

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References

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Authors and Affiliations

  1. Faculty of Mechanical Engineering/Department of Applied Mechanics and Mechatronics, Technical University of Košice, Košice, Slovakia

    Alexander Gmiterko, Michal Kelemen, Ivan Virgala, Róbert Surovec, Martina Vacková & Erik Prada

Authors
  1. Alexander Gmiterko
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  2. Michal Kelemen
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  3. Ivan Virgala
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  4. Róbert Surovec
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  5. Martina Vacková
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  6. Erik Prada
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Editor information

Editors and Affiliations

  1. Dept. of Cybernetics, and Artificial Intelligence, Technical University of Košice, Letná 9, Košice, 04200, Slovakia

    Ladislav Madarász

  2. Faculty of Mechanical Engineering, Dept. of Biomedical Engineering, Technical University of Košice, Letná 9, Košice, 04200, Slovakia

    Jozef Živčák

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Gmiterko, A., Kelemen, M., Virgala, I., Surovec, R., Vacková, M., Prada, E. (2013). Dynamics and Control of a Snake Robot Rectilinear Motion. In: Madarász, L., Živčák, J. (eds) Aspects of Computational Intelligence: Theory and Applications. Topics in Intelligent Engineering and Informatics, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30668-6_10

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  • DOI: https://doi.org/10.1007/978-3-642-30668-6_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-30667-9

  • Online ISBN: 978-3-642-30668-6

  • eBook Packages: EngineeringEngineering (R0)

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