On the dynamic analysis of a novel snake robot: preliminary results

QUAGLIA, Giuseppe, CAVALLONE, Paride and LENZO, Basilio (2018). On the dynamic analysis of a novel snake robot: preliminary results. In: CARBONE, Giuseppe and GASPARETTO, Alessandro, (eds.) Advances in Italian Mechanism Science: Proceedings of the Second International Conference of IFToMM Italy. Mechanisms and Machine Science (68). Springer, 275-285.

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Official URL: https://www.springer.com/us/book/9783030033194
Link to published version:: https://doi.org/10.1007/978-3-030-03320-0_30
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    Abstract

    In recent years, modular robotics has become of great interest in the robotics community. Among them, snake robots are among the most flexible and versatile type of mobile robots, well-suited to a large number of applications, such as exploration and inspection tasks, participation to search and rescue missions etc. The present paper investigates the design of a novel snake robot, named Rese_Q01, currently being designed at Politecnico di Torino. In order to characterise the dynamic behaviour of the robot, a simple vehicle dynamics model is developed and basic simulations are carried out for a first implementation of a unit consisting of two modules. Preliminary results show the influence of the robot velocity on the trajectory curvature radius, as well as the effect of different ground/tire friction conditions. This analysis is the first step in order to develop effective control strategies for robot trajectories.

    Item Type: Book Section
    Additional Information: ISSN 2211-0984 e-ISSN 2211-0992
    Research Institute, Centre or Group - Does NOT include content added after October 2018: Materials and Engineering Research Institute > Centre for Automation and Robotics Research > Systems Modelling and Integration Group
    Departments - Does NOT include content added after October 2018: Faculty of Science, Technology and Arts > Department of Engineering and Mathematics
    Identification Number: https://doi.org/10.1007/978-3-030-03320-0_30
    Page Range: 275-285
    Depositing User: Basilio Lenzo
    Date Deposited: 09 Nov 2018 12:24
    Last Modified: 30 Oct 2019 01:18
    URI: http://shura.shu.ac.uk/id/eprint/22811

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