{"data":{"id":"10.6084/m9.figshare.1632805","type":"dois","attributes":{"doi":"10.6084/m9.figshare.1632805","prefix":"10.6084","suffix":"m9.figshare.1632805","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Ariizumi, Ryo","nameType":"Personal","givenName":"Ryo","familyName":"Ariizumi","affiliation":[],"nameIdentifiers":[]},{"name":"Motoyasu Tanaka","affiliation":[],"nameIdentifiers":[]},{"name":"Matsuno, Fumitoshi","nameType":"Personal","givenName":"Fumitoshi","familyName":"Matsuno","affiliation":[],"nameIdentifiers":[]}],"titles":[{"title":"Analysis and heading control of continuum planar snake robot based on kinematics and a general solution thereof"}],"publisher":"Taylor \u0026 Francis","container":{},"publicationYear":2016,"subjects":[{"subject":"Biophysics"},{"subject":"Space Science"},{"subject":"Physiology"},{"subject":"FOS: Biological sciences","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Biological sciences","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Biotechnology"},{"subject":"69999 Biological Sciences not elsewhere classified","subjectScheme":"FOR"},{"subject":"19999 Mathematical Sciences not elsewhere classified","subjectScheme":"FOR"},{"subject":"FOS: Mathematics","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Mathematics","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Inorganic Chemistry"},{"subject":"FOS: Chemical sciences","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"FOS: Chemical sciences","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Science Policy"},{"subject":"Plant Biology"}],"contributors":[],"dates":[{"date":"2016-01-11","dateType":"Created"},{"date":"2016-03-31","dateType":"Updated"},{"date":"2016","dateType":"Issued"}],"language":null,"types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"IsSupplementTo","relatedIdentifier":"10.1080/01691864.2015.1118409","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":["62173266 Bytes"],"formats":[],"version":null,"rightsList":[{"rights":"Creative Commons Attribution 4.0 International","rightsUri":"https://creativecommons.org/licenses/by/4.0/legalcode","schemeUri":"https://spdx.org/licenses/","rightsIdentifier":"cc-by-4.0","rightsIdentifierScheme":"SPDX"}],"descriptions":[{"description":"This paper presents a kinematic calculation and control method for an inextensible continuum planar snake robot. The snake robot is assumed to move without side slipping; this constraint makes it easy to construct its kinematic model based on which we can analyze the movement of the robot. The kinematic model is expressed as a semi-linear partial differential equation (PDE). We discuss the general solution of the PDE and a calculation method based on it. However, the constraint also raises the problem of singular posture. The problem of singularities has been addressed for a snake robot with a serial link structure; however, for a continuum snake robot, much less research has been carried out. In this paper, we propose a method for controlling the direction of movement while avoiding singularities. The validity of our method is tested through simulations and experiments.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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","url":"https://tandf.figshare.com/articles/dataset/Analysis_and_heading_control_of_continuum_planar_snake_robot_based_on_kinematics_and_a_general_solution_thereof/1632805/1","contentUrl":null,"metadataVersion":6,"schemaVersion":"http://datacite.org/schema/kernel-4","source":"mds","isActive":true,"state":"findable","reason":null,"viewCount":0,"viewsOverTime":[],"downloadCount":0,"downloadsOverTime":[],"referenceCount":0,"citationCount":0,"citationsOverTime":[],"partCount":0,"partOfCount":0,"versionCount":0,"versionOfCount":0,"created":"2016-01-11T10:50:51.000Z","registered":"2016-01-11T10:50:52.000Z","published":"2016","updated":"2020-09-04T13:50:58.000Z"},"relationships":{"client":{"data":{"id":"figshare.ars","type":"clients"}},"provider":{"data":{"id":"otjm","type":"providers"}},"media":{"data":{"id":"10.6084/m9.figshare.1632805","type":"media"}},"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