Adaptive Snake Robot Locomotion: A Benchmarking Facility for Experiments

Fjerdingen, Sigurd Aksnes; Mathiassen, John Reidar; Schumann-Olsen, Henrik; Kyrkjebø, Erik

doi:10.1007/978-3-540-78317-6_2

Cited by 13 publications

(15 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Ideas related to environment sensing for snake robots are considered in [95], where the preliminary design of a capacitive contact sensor is proposed that can be wrapped around each module of a snake robot. Snake robots with joint modules covered by force sensors are proposed by the research group of the authors in [96,97,98]. The snake robots in [96,97] have cylindrical joint modules and their respective force sensing systems are able to detect and, to some extent, assess the magnitude of external forces applied at certain areas of the joint modules.…”

Section: Snake Robots With Contact Force Sensorsmentioning

confidence: 99%

“…Snake robots with joint modules covered by force sensors are proposed by the research group of the authors in [96,97,98]. The snake robots in [96,97] have cylindrical joint modules and their respective force sensing systems are able to detect and, to some extent, assess the magnitude of external forces applied at certain areas of the joint modules. The snake robot in [98], on the other hand, has ball-shaped joint modules with force sensors mounted underneath the shell of each module (see Fig.…”

Section: Snake Robots With Contact Force Sensorsmentioning

confidence: 99%

See 1 more Smart Citation

A review on modelling, implementation, and control of snake robots

Liljebäck

Pettersen

Stavdahl

et al. 2012

Robotics and Autonomous Systems

229

118

View full text Add to dashboard Cite

This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms.

show abstract

Section: Snake Robots With Contact Force Sensorsmentioning

confidence: 99%

Section: Snake Robots With Contact Force Sensorsmentioning

confidence: 99%

A review on modelling, implementation, and control of snake robots

Liljebäck

Pettersen

Stavdahl

et al. 2012

Robotics and Autonomous Systems

229

118

View full text Add to dashboard Cite

show abstract

“…The concept is demonstrated in a very challenging scenario, which is the Collapsed House Simulation Facility, and adopting the IRS Souryu snake robot which uses actively driven tracks for propulsion. The use of ToF cameras is also demonstrated in [70] in a pipe inspection snake robot. The camera is used to detect key aspects of the pipe geometry, such as bends, junctions, and pipe radius.…”

Section: Survey Of Environment Perception For Locomotion In Snake Robotsmentioning

confidence: 99%

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

et al. 2017

View full text Add to dashboard Cite

In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion) and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion) to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

show abstract

“…The use of passive wheels enables a snake robot to achieve propulsion on flat surfaces by propagating horizontal waves backwards along its body, and is a feature exploited by several other wheeled snake robots [5], [6]. Snake robots without wheels also exist [1], [7]- [11]. To the authors' best knowledge, the works in [1], [8] present the only published experimental results concerning obstacleaided locomotion with wheel-less snake robots.…”

Section: Introductionmentioning

confidence: 99%

A snake robot with a contact force measurement system for obstacle-aided locomotion

Liljebäck

Pettersen

Stavdahl

2010

2010 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Abstract-A snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have two features: 1) a smooth exterior surface combined with 2) a contact force sensing system. These two features are characteristic of biological snakes, but have received limited attention in snake robot designs so far. This paper describes the development of a new snake robot aimed at meeting both these requirements. The paper details the design and implementation of the snake robot, presents experimental results that validate the function of the contact force measurement system, and demonstrates some of the motion capabilities of the robot.

show abstract

Adaptive Snake Robot Locomotion: A Benchmarking Facility for Experiments

Cited by 13 publications

References 17 publications

A review on modelling, implementation, and control of snake robots

A review on modelling, implementation, and control of snake robots

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

A snake robot with a contact force measurement system for obstacle-aided locomotion

Contact Info

Product

Resources

About