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dc.contributor.advisorAu, Chi Kit
dc.contributor.authorJin, Pinwei
dc.date.accessioned2015-08-03T04:49:37Z
dc.date.available2015-08-03T04:49:37Z
dc.date.issued2015
dc.identifier.citationJin, P. (2015). Modified serpentine motion of the snake robot (Thesis, Master of Engineering (ME)). University of Waikato, Hamilton, New Zealand. Retrieved from https://hdl.handle.net/10289/9507en
dc.identifier.urihttps://hdl.handle.net/10289/9507
dc.description.abstractThe frequent occurrence of earthquake in New Zealand drives the research on snake robot for search and rescue operation because of its elongated body shape and locomotion mimicry of the biological snake. Both features are in favour of moving the snake robot through the earthquake disaster area. To facilitate the robot control and information gathering, it is usually required to install a camera on the snake robot head so that the video images of the disaster area can be send back to the human operator. This thesis presents the simulation of a snake robot performing serpentine motion. A camera is attached on the snake robot head to obtain the video image along the line of sight. A remote controller is incorporated to control the advancement based on the video images. This simulation reveals that the video images from the camera oscillate seriously because the camera on the snake robot head follows serpenoid curve during the locomotion. As a result, both robot control and information gathering are affected. A solution is proposed to stabilize the snake robot head and its camera by introducing a correction at the joint between the robot head and its body. This correction aligns the camera sight direction with the moving direction of the snake robot to yield satisfactory video images. Finally, an actual snake robot is implemented with a wireless camera installed on the head to show the effect of correction. Experiments are conducted to control the advancement of snake robot remotely just based on the video images obtained from the camera. This greatly improves the performance of the snake robot.
dc.format.mimetypeapplication/pdf
dc.language.isoen
dc.publisherUniversity of Waikato
dc.rightsAll items in Research Commons are provided for private study and research purposes and are protected by copyright with all rights reserved unless otherwise indicated.
dc.subjectsnake robot
dc.subjectserpentine motion
dc.titleModified serpentine motion of the snake robot
dc.typeThesis
thesis.degree.grantorUniversity of Waikato
thesis.degree.levelMasters
thesis.degree.nameMaster of Engineering (ME)
dc.date.updated2015-03-19T21:35:29Z
pubs.place-of-publicationHamilton, New Zealanden_NZ


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