Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms

Volume: 63, Issue: 2, Pages: 255 - 264
Published: Dec 11, 2019
Abstract
While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop...
Paper Details
Title
Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms
Published Date
Dec 11, 2019
Volume
63
Issue
2
Pages
255 - 264
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