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• W3129981809 abstract "Snake robots have the potential to locomote through tightly packed spaces, but turning effectively within unmodelled and unsensed environments remains challenging. Inspired by a behavior observed in the tiny nematode worm C. elegans, we propose a novel in-place turning gait for elongated limbless robots. To simplify the control of the robots' many internal degrees-of-freedom, we introduce a biologically-inspired template in which two co-planar traveling waves are superposed to produce an in-plane turning motion, the omega turn. The omega turn gait arises from modulating the wavelengths and amplitudes of the two traveling waves. We experimentally test the omega turn on a snake robot, and show that this turning gait outperforms previous turning gaits: it results in a larger angular displacement and a smaller area swept by the body over a gait cycle, allowing the robot to turn in highly confined spaces." @default.
• W3129981809 created "2021-03-01" @default.
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• W3129981809 date "2020-10-24" @default.
• W3129981809 modified "2023-10-02" @default.
• W3129981809 title "The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots" @default.
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• W3129981809 doi "https://doi.org/10.1109/iros45743.2020.9340872" @default.
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