@inproceedings{cf32c31a3c2242e698c2c3c9e30db432,
title = "The Improved Approximation Method of the Snake Robot Based on RMF",
abstract = "The hyper-redundant robot is usually controlled by approximating the backbone curve. So an approximation method with high efficiency and precision is a key problem. Then an approximation method based on the rotation minimizing frame (RMF) for the planar backbone curve is proposed. It has higher computation efficiency and a smaller global approximation error than the traditional approximation method based on the integration of the curvature of the backbone curve. For comparing the computation efficiency, the proposed method and the traditional method are compared by analyzing their operation numbers in the theory. At last, the numeric computation experiments validate that the proposed method has a better performance.",
keywords = "RMF, approximation method, planar backbone curve",
author = "Yunhu Zhou and Yuanfei Zhang and Fenglei Ni and Yongjun Sun and Hong Liu",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th International Conference on Robotics and Automation Engineering, ICRAE 2019 ; Conference date: 22-11-2019 Through 24-11-2019",
year = "2019",
month = nov,
doi = "10.1109/ICRAE48301.2019.9043817",
language = "英语",
series = "2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "178--183",
booktitle = "2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019",
address = "美国",
}