A serial five-bar mechanism based robotic snake exhibiting three kinds of gait

V. S. Rajashekhar, Swagat Kumar

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this paper, we provide the design of a Serial Five Bar Mechanism (named as SFBM-A1) for a snake-like robot. Each five bar mechanism in series is capable of rotating and translating which, in turn, enables the robotic snake to exhibit three kinds of gaits - rectilinear, side shifting and turning on a flat surface. A quaternary link is used as a part of the five-bar mechanism which helps in connecting them in series. The friction anchors (used at both ends of the snake robot) are designed to take active part in producing various gaits by exhibiting a push or pull kind of effect. This is in addition to its usual role of providing stability during motion. The kinematics of the proposed joint mechanism is derived and its working is demonstrated through simulation and experiments.
Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1938-1943
Number of pages6
ISBN (Print)9781467396745
DOIs
Publication statusPublished - 9 Dec 2015
Event: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Zhuhai, China
Duration: 6 Dec 20159 Dec 2015

Publication series

Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

Conference: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)
CountryChina
CityZhuhai
Period6/12/159/12/15

Fingerprint

Robotics
Robots
Anchors
Kinematics
Friction
Experiments

Cite this

Rajashekhar, V. S., & Kumar, S. (2015). A serial five-bar mechanism based robotic snake exhibiting three kinds of gait. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 1938-1943). (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7419056
Rajashekhar, V. S. ; Kumar, Swagat. / A serial five-bar mechanism based robotic snake exhibiting three kinds of gait. 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1938-1943 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).
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Rajashekhar, VS & Kumar, S 2015, A serial five-bar mechanism based robotic snake exhibiting three kinds of gait. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1938-1943, : 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China, 6/12/15. https://doi.org/10.1109/ROBIO.2015.7419056

A serial five-bar mechanism based robotic snake exhibiting three kinds of gait. / Rajashekhar, V. S.; Kumar, Swagat.

2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1938-1943 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

Research output: Chapter in Book/Report/Conference proceedingChapter

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Rajashekhar VS, Kumar S. A serial five-bar mechanism based robotic snake exhibiting three kinds of gait. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1938-1943. (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). https://doi.org/10.1109/ROBIO.2015.7419056