The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots
Tianyu Wang,Baxi Chong,Kelimar Diaz,Julian Whitman,Hang Lu,Matthew Travers,Daniel I. Goldman,Howie Choset,Tianyu Wang,Baxi Chong,Kelimar Diaz,Julian Whitman,Hang Lu,Matthew Travers,Daniel I. Goldman,Howie Choset
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 biolog...
