Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model

京都大学 === 新制・課程博士 === 博士(工学) === 甲第23505号 === 工博第4917号 === 新制||工||1768(附属図書館) === 京都大学大学院工学研究科機械理工学専攻 === (主査)教授松野文俊, 教授泉田啓, 教授小森雅晴 === 学位規則第4条第1項該当 === Doctor of Philosophy (Engineering) === Kyoto University === DGAM...

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Bibliographic Details
Main Author:	Takemori, Tatsuya
Other Authors:	竹森, 達也
Format:	Doctoral Thesis
Language:	English
Published:	Kyoto University 2021
Subjects:	Snake robot Biologically-Inspired Robots Redundant Robots Search and Rescue Robots Continuous Curve Model 500
Online Access:	http://hdl.handle.net/2433/266033

id	ndltd-kyoto-u.ac.jp-oai-repository.kulib.kyoto-u.ac.jp-2433-266033
record_format	oai_dc
spelling	ndltd-kyoto-u.ac.jp-oai-repository.kulib.kyoto-u.ac.jp-2433-2660332021-12-11T05:07:58Z Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model 複雑環境におけるヘビ型ロボットの連続曲線モデルを用いた動作設計と制御 Takemori, Tatsuya 竹森, 達也タケモリ, タツヤ Snake robot Biologically-Inspired Robots Redundant Robots Search and Rescue Robots Continuous Curve Model 500 京都大学新制・課程博士博士(工学) 甲第23505号工博第4917号新制\|\|工\|\|1768(附属図書館) 京都大学大学院工学研究科機械理工学専攻 (主査)教授松野文俊, 教授泉田啓, 教授小森雅晴学位規則第4条第1項該当 Doctor of Philosophy (Engineering) Kyoto University DGAM 2021-11-19T00:27:25Z 2021-11-19T00:27:25Z 2021-09-24 2021-09-24 doctoral thesis Thesis or Dissertation http://hdl.handle.net/2433/266033 10.14989/doctor.k23505 14301 eng 学位規則第9条第2項により要約公開 [1]“Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration, ” IEEE Transactions on Robotics, vol.34, no 5, pp.1384-1391, DOI:10.1109/TRO.2018.2830346 [2] ""Ladder Climbing with a Snake Robot, "" IROS 2018: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.8140-8145. DOI:10.1109/IROS.2018.8594411 [3]“Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments, ” IEEE Transactions on Robotics (Early Access), DOI:10.1109/TRO.2021.3063438 [4]“Adaptive Helical Rolling of a Snake Robot to a Straight Pipe with Irregular Cross-sectional Shape”, IEEE Transactions on Robotics (査読中) Kyoto University 京都大学
collection	NDLTD
language	English
format	Doctoral Thesis
sources	NDLTD
topic	Snake robot Biologically-Inspired Robots Redundant Robots Search and Rescue Robots Continuous Curve Model 500
spellingShingle	Snake robot Biologically-Inspired Robots Redundant Robots Search and Rescue Robots Continuous Curve Model 500 Takemori, Tatsuya Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model
description	京都大学 === 新制・課程博士 === 博士(工学) === 甲第23505号 === 工博第4917号 === 新制\|\|工\|\|1768(附属図書館) === 京都大学大学院工学研究科機械理工学専攻 === (主査)教授松野文俊, 教授泉田啓, 教授小森雅晴 === 学位規則第4条第1項該当 === Doctor of Philosophy (Engineering) === Kyoto University === DGAM
author2	竹森, 達也
author_facet	竹森, 達也 Takemori, Tatsuya
author	Takemori, Tatsuya
author_sort	Takemori, Tatsuya
title	Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model
title_short	Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model
title_full	Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model
title_fullStr	Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model
title_full_unstemmed	Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model
title_sort	motion design and control of a snake robot in complex environments based on a continuous curve model
publisher	Kyoto University
publishDate	2021
url	http://hdl.handle.net/2433/266033
work_keys_str_mv	AT takemoritatsuya motiondesignandcontrolofasnakerobotincomplexenvironmentsbasedonacontinuouscurvemodel AT takemoritatsuya fùzáhuánjìngniokeruhebixíngrobottonoliánxùqūxiànmoderuwoyòngitadòngzuòshèjìtozhìyù
_version_	1723964078346469376

Motion Design and Control of a Snake Robot in Complex Environments Based on a Continuous Curve Model

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