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dc.contributor.authorKoike, Carla Maria Chagas e Cavalcante-
dc.contributor.authorViana, Dianne Magalhães-
dc.contributor.authorYudi, Jones-
dc.contributor.authorBatista, Filipe Aziz-
dc.contributor.authorCosta, Arthur Reichert-
dc.contributor.authorCarvalho, Vinícius-
dc.contributor.authorRocha, Thiago de Deus Lima-
dc.date.accessioned2026-03-04T19:49:47Z-
dc.date.available2026-03-04T19:49:47Z-
dc.date.issued2024-07-
dc.identifier.citationKOIKE, Carla Cavalcante et. al. Visual-aided obstacle climbing by modular snake robot. Sensors, [S. l.], v. 24 , 2024. DOI: https://doi.org/10.3390/s24134424. Disponível em: https://www.mdpi.com/1424-8220/24/13/4424. Acesso em: 04 mar. 2026.pt_BR
dc.identifier.urihttp://repositorio.unb.br/handle/10482/54187-
dc.language.isoengpt_BR
dc.publisherMDPIpt_BR
dc.rightsAcesso Abertopt_BR
dc.titleVisual-aided obstacle climbing by modular snake robotpt_BR
dc.typeArtigopt_BR
dc.subject.keywordRobôs-serpentept_BR
dc.subject.keywordRobôs escaladorespt_BR
dc.subject.keywordRobôs móveispt_BR
dc.subject.keywordLocomoção guiada por imagempt_BR
dc.rights.license(CC-BY) Copyright: © 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/).pt_BR
dc.identifier.doihttps://doi.org/10.3390/s24134424pt_BR
dc.relation.publisherversionhttps://www.mdpi.com/1424-8220/24/13/4424pt_BR
dc.description.abstract1Snake robots, also known as apodal robots, are among the most common and versatile modular robots. Primarily due to their ability to move in different patterns, they can evolve in scenarios with several constraints, some of them hardly accessible to other robot configurations. This paper deals with a specific environment constraint where the robot needs to climb a prismatic obstacle, similar to a step. The objective is to carry out simulations of this function, before implementing it in the physical model. To this end, we propose two different algorithms, parameterized by the obstacle dimensions determined by image processing, and both are evaluated in simulated experiments. The results show that both algorithms are viable for testing in real robots, although more complex scenarios still need to be further studied.pt_BR
dc.identifier.orcidhttps://orcid.org/0000-0002-3641-1819pt_BR
dc.identifier.orcidhttps://orcid.org/0000-0001-8396-8022pt_BR
dc.identifier.orcidhttps://orcid.org/0000-0001-6707-853Xpt_BR
dc.identifier.orcidhttps://orcid.org/0000-0001-9553-3114pt_BR
dc.identifier.orcidhttps://orcid.org/0009-0009-3919-693Xpt_BR
dc.identifier.orcidhttps://orcid.org/0009-0008-6533-5975pt_BR
dc.contributor.affiliationUniversity of Brasília, Department of Computer Sciencept_BR
dc.contributor.affiliationUniversity of Brasília, Department of Mechanical Engineeringpt_BR
dc.contributor.affiliationUniversity of Brasília, Department of Mechanical Engineeringpt_BR
dc.contributor.affiliationUniversity of Brasília, Mechatronics Graduate Programmept_BR
dc.contributor.affiliationUniversity of Brasília, Mechatronics Graduate Programmept_BR
dc.contributor.affiliationUniversity of Brasília, Department of Mechanical Engineeringpt_BR
dc.contributor.affiliationUniversity of Brasília, Department of Mechanical Engineeringpt_BR
dc.description.unidadeInstituto de Ciências Exatas (IE)pt_BR
dc.description.unidadeDepartamento de Ciência da Computação (IE CIC)pt_BR
dc.description.unidadeFaculdade de Tecnologia (FT)pt_BR
dc.description.unidadeDepartamento de Engenharia Mecânica (FT ENM)pt_BR
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