Biologically Inspired Snake-like Robots

Hirose, Shigeo; Mori, Masao

doi:10.1109/robio.2004.1521742

Cited by 201 publications

(249 citation statements)

References 7 publications

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“…Based on nominal mechanism, the rootless open chain multi-body system is equivalent to be a planar open chain mechanism (R 1 P 2 R 3 )R 4 …R n ＋ 2 with n+2 links. Take 1 q as the angle between the first nominal link with x axis, and 2 q as the length between the nominal R 1 to R 3 , and ( )…”

Section: Dynamic Nominal Mechanism For the Rootless Redundant Robotsmentioning

confidence: 99%

“…Comparing with other type of mobile robots (like wheeled robots, legged robots), the rootless redundant robots have advantages with higher adaptability to environment, hence this type of robots play an important role in many programs [1] , such as fire fighting, earthquake rescue, battlefield scouting. But because of the nonholomic constraint characteristic (without fixed base), it is difficult to control the position of the robots only through kinematic modeling.…”

Section: Introductionmentioning

confidence: 99%

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The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling

Li¹,

Jiang²,

Xing³

et al. 2015

Advances in Computer Science Research

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Abstract. Based on a Dynamic Nominal Mechanism adding to the rootless redundant robots, the dynamic modeling for can be established. The DNM is an idealized dynamic chain whose base is fixed at a point on earth, which makes the rootless redundant robots convert into the open chain multi-body system with fixed base. According to the established dynamic modeling, and the second-order nonholonomic constraints equations are developed from decomposition of the inertia matrix and the Christoffel tensor, and the position and orientation constraint is obtained then, which provides a research basis for designing the motion controller of rootless redundant robots. And the validity of the constraint equation is proved through the simulations of dynamic modeling of 8R rootless redundant robot.

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Section: Dynamic Nominal Mechanism For the Rootless Redundant Robotsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling

Li¹,

Jiang²,

Xing³

et al. 2015

Advances in Computer Science Research

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show abstract

“…Sinus-lifting is also implemented for snake robots. 50,71,92 A 2D model incorporating a ground contact force which is a function of the curvature of the snake body is used by Ma et al 50 It is shown that the snake robot moves forward faster by sinus-lifting, than by lateral undulation. In addition, sinuslifting is a way of reducing the risk of side slip of the wheels.…”

Section: D Snake Robot Locomotionmentioning

confidence: 99%

A survey on snake robot modeling and locomotion

2009

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SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10-15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

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“…E and I are the effective modulus of elasticity and the area moment of inertia of the actuator, respectively. It must be noted [10][11][12][13][14] that many bio-inspired legged locomotion systems involve jointed limbs, while the polymer actuators are limited to a single degree of freedom planar movement. This constraint precludes the effort to achieve any form of bio-mimicry, but instead limits any form of legged locomotion to the bio-inspired type.…”

Section: Design Selection and Analysismentioning

confidence: 99%

A bio-inspired robotic locomotion system based on conducting polymer actuators

Alici

Gunderson

2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Abstract-This paper presents the conceptual design and testing of a bio-inspired locomotion system activated through ionic-type conducting polymer actuators, which can operate both in dry and wet environments. The locomotion system is proposed for a mini autonomous crawling device for applications typified by pipe inspection, search, inspection and data gathering in confined spaces, which require mini-robotic systems. The locomotion system is based on the cilia, which has a simple planar bending motion. This type of motion can be provided by bending-type polymer actuators (one-end fixed and the other-end free cantilever beam). The actuators mounted on a printed circuit board and powered according to a gait design similar to the motion of biological cilia create the legged locomotion system. As the actuators require a low electric power and have a small foot-print (no sophisticated electronics and any transmission mechanisms), they are especially suitable to establish wireless autonomous minirobotic systems. The design methodology presented in this paper is offered as a guide to establish functional devices based on bio-inspiration and conducting polymer actuators. The successful testing of the propulsion concept in the prototype demonstrates that conducting polymer actuators, when engineered properly, can be used to build functional devices.

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Biologically Inspired Snake-like Robots

Cited by 201 publications

References 7 publications

The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling

The Research on Position and Orientation Constraint of Rootless Redundant Robots Based on Dynamic Modeling

A survey on snake robot modeling and locomotion

A bio-inspired robotic locomotion system based on conducting polymer actuators

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