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A recursive approach for the analysis of snake robots using Kane's equations

Published online by Cambridge University Press:  28 March 2006

H. Tavakoli Nia ,
H. N. Pishkenari  and
A. Meghdari
H. Tavakoli Nia
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran (Iran)
H. N. Pishkenari
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran (Iran)
A. Meghdari
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran (Iran)
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Abstract

This paper presents a recursive approach for solving kinematic and dynamic problems in snake-like robots using Kane's equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively, enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler's method in three different aspects: Number of operations, CPU time and error in the computational procedures.

Keywords

Snake robotNonholonomic constraintsKane's equationsComputational efficiency
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 251 - 256
Copyright
2006 Cambridge University Press

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