A snake-like robot for variable friction unstructured terrains, pushing aside debris in clearing passages

Caglav E., ERKMEN A. M. , ERKMEN İ.

IEEE/RSJ International Conference on Intelligent Robots and Systems, California, United States Of America, 29 October - 02 November 2007, pp.3691-3692 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iros.2007.4399427
  • City: California
  • Country: United States Of America
  • Page Numbers: pp.3691-3692


In this paper we design and implement a 2D coupled mobility snake/caterpillar vehicle for terrains with variable friction. A control hierarchy made of fuzzy logic controllers equipped with fuzzy actor critic learning (FACL) enables the robot to adapt itself to variable friction conditions of unknown, unstructured environments as well as the need for task changes in those environments such pushing aside a debris for its removal from the navigation site, during locomotion.