3 accepted papers
Snake robots can contact their environments along their whole bodies. This distributed contact makes them versatile and robust locomotors, but also makes controlling them a chal- lenging problem involving high-dimensional configuration spaces, with no direct way to break their motion down into âdr…
Limbless locomotion, evidenced by both biological and robotic snakes, capitalizes on these systems' redundant degrees of freedom to negotiate complicated environments. While the versatility of locomotion methods provided by a snake-like form is of great advantage, the difficulties in both representi…
Biologically inspired robots perform many interesting and useful behaviors, but to effectively emulate their biological counterparts, robots often need to possess many degrees of freedom, complicating their mechanical design and making it difficult to apply standard control and motion planning strat…