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RISDynamical Modeling and Control of Modular Snake Robots With Series Elastic Actuators for Pedal Wave Locomotion on Uneven Terrain
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces the equations of motion of modular 2D snake robots moving in vertical plane employing Series Elastic Actuators (SEAs). The kinematics of such 2D modular snake robot is presented in an efficient matrix ...