Multi-Thread Based Synchronization of Locomotion Control in Snake Robots

Authors:
Laxmisha Rai;Soon Ju Kang
Affiliations:
Kyungpook National University;Kyungpook National University
Venue:
RTCSA '05 Proceedings of the 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
Year:
2005

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Abstract

In this paper, we present an approach to control the locomotion of snake robot with concurrent programming model constructed using threads and semaphores. The multi-thread based concurrent programming model adds the flexibility to design and synchronize the movement of snake robots as compared with microcontroller and mechanical based approaches. We have designed a physical snake robot using LEGO sensors and actuator blocks and the wave motion of the snake robot is generated by multi-thread based concurrent programming under RT-Linux. The different robot movements in a desired direction along with different types of snake movements are achieved using angle sensors.