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Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System

Full text available in IEEE XPlore :URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7057376&isnumber=7057367

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Bibliographic Details
Main Authors: Samsi Md Said, Amir Sharizam Ismail, Ishkandar Baharin, (UniKL MFI)
Format:
Published: IEEE 2015
Subjects:
Robot Forward Kinematic
Binary Robot
Hyper-Redundant Robot
Online Access:http://localhost/xmlui/handle/123456789/9731
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id my.unikl.ir-9731
record_format eprints
spelling my.unikl.ir-97312015-06-17T06:55:05Z Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System Samsi Md Said Amir Sharizam Ismail Ishkandar Baharin (UniKL MFI) Robot Forward Kinematic Binary Robot Hyper-Redundant Robot Full text available in IEEE XPlore :URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7057376&isnumber=7057367 Snake robot or hyper redundant robot is very complex robotic system since it posses very large active and passive degree of freedom. To simplify the design, modeling and locomotion, a simpler approach is needed. In this paper a clustering of four bit bang-bang sequence control is proposed for every robot module to achieve serpentine shape configuration or gait. Next the Denavit Harternberg Method is used to model the segment or module involved. Scalable combination of this approach will become complex system of snake robot for serpentine gait. 2015-03-30T04:52:21Z 2015-03-30T04:52:21Z 2014-11 Said, Samsi Md; Ismail, Amir Sharizam; Baharin, Ishkandar, "Clustering four bit sequence control for serpentine gait of hyper redundant robot system," Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on , vol., no., pp.397,402, 12-15 Nov. 2014 doi: 10.1109/URAI.2014.7057376 http://localhost/xmlui/handle/123456789/9731 IEEE
institution Universiti Kuala Lumpur
building UniKL Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Kuala Lumpur
content_source UniKL Institutional Repository
url_provider http://ir.unikl.edu.my/
topic Robot Forward Kinematic
Binary Robot
Hyper-Redundant Robot
spellingShingle Robot Forward Kinematic
Binary Robot
Hyper-Redundant Robot
Samsi Md Said
Amir Sharizam Ismail
Ishkandar Baharin
(UniKL MFI)
Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
description Full text available in IEEE XPlore :URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7057376&isnumber=7057367
format
author Samsi Md Said
Amir Sharizam Ismail
Ishkandar Baharin
(UniKL MFI)
author_facet Samsi Md Said
Amir Sharizam Ismail
Ishkandar Baharin
(UniKL MFI)
author_sort Samsi Md Said
title Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
title_short Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
title_full Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
title_fullStr Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
title_full_unstemmed Clustering Four Bit Sequence Control for Serpentine Gait of Hyper Redundant Robot System
title_sort clustering four bit sequence control for serpentine gait of hyper redundant robot system
publisher IEEE
publishDate 2015
url http://localhost/xmlui/handle/123456789/9731
_version_ 1644485131945115648
score 13.214268

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