A geometric approach to modeling of four- and five-link planar snake-like robot

Lipták, Tomáš; Virgala, Ivan; Frankovský, Peter; Šarga, Patrik; Gmiterko, Alexander; Baločková, Lenka

doi:10.1177/1729881416663714

Cited by 13 publications

(9 citation statements)

References 9 publications

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“…The use of default tables for concrete material pairs only leads to a very rough estimation. The success of many applications depends on the precise identification of friction properties [34][35][36][37][38][39][40][41].…”

Section: Discussionmentioning

confidence: 99%

Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

et al. 2020

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The subject of this paper is the solution to specific problems in the measurement of the coefficient of the sliding friction of material pairs using a variable incidence tribometer. The aim of this work was to solve the questions of the measurement of the static coefficient of friction using a variable incidence tribometer from the perspective of metrology. In particular, we intended to research the expression of the credibility of this measurement and the possibility of increasing the credibility of the measurement. Another problem that needs to be solved is the method of carrying out the measurement, which has an impact on its achieved uncertainty. Sliding friction is a phenomenon that depends on many material properties such as contact area roughness, moisture, lubricants, temperature, and relative motion velocity. If environmental conditions are defined, the main input parameter is the relative motion velocity. For this input quantity, friction force becomes a symmetrical problem, and it is only necessary to explore this phenomenon for positive values of velocities. Symmetry in this area simplifies the research of this science topic.

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Section: Discussionmentioning

confidence: 99%

Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

et al. 2020

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“…The main goal is to achieve fast design process as soon as possible. The short design process is important for achieving of good position on market [10][11][12][13][14][15][16][17][18][19][20][21][22][23].…”

Section: Discussionmentioning

confidence: 99%

Robotic snakes

Virgala¹,

Miková²,

Kelemen³

2018

AMS

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The paper deals with snake-like robots. There are several types of snake-like locomotions. Biological example-snake always select the best type of locomotion in accordance with terrain. Big manoeuvrability leads many teams to develop snake-like robots. These structures have many degrees of freedom and it is complicated to control them. Articulated bodies of these snake-like robots consist of segments. The paper deals with segment with one and two degree of freedom.

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“…We also defined vector p . 1) as the vector of joint velocities for a particular locomotion phase and vector p .. q =…”

Section: Simulation Of Locomotionmentioning

confidence: 99%

“…. 1) as the vector of joint accelerations for particular locomotion phase. Considering all phases of locomotion,…”

Section: Simulation Of Locomotionmentioning

confidence: 99%

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Investigation of Snake Robot Locomotion Possibilities in a Pipe

et al. 2020

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This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

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A geometric approach to modeling of four- and five-link planar snake-like robot

Cited by 13 publications

References 9 publications

Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer

Robotic snakes

Investigation of Snake Robot Locomotion Possibilities in a Pipe

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