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Control Of A Serpentine Robot For Inspection TasksEfficient, robust kinematic control scheme developed to control serpentine robot designed to inspect complex structure. Takes full advantage of multiple redundant degrees of freedom of robot to provide considerable dexterity for maneuvering through workspace cluttered with stationary obstacles at initially unknown positions. Control scheme produces slithering motion.
Document ID
19960018820
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun (Caltech)
Colbaugh, Richard D. (New Mexico State Univ.)
Glass, Kristin L. (New Mexico State Univ.)
Date Acquired
August 17, 2013
Publication Date
March 1, 1996
Publication Information
Publication: NASA Tech Briefs
Volume: 20
Issue: 3
ISSN: 0145-319X
Subject Category
Machinery
Report/Patent Number
NPO-19506
Accession Number
96B10125
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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