Closed-loop path following of traveling wave rectilinear motion through obstacle-strewn terrain

Chang, Alexander H.; Vela, Patricio A.

doi:10.1109/icra.2017.7989404

Cited by 3 publications

(5 citation statements)

References 15 publications

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“…When coupled with experiment, these models are expected to facilitate estimation of the actual frictional properties characterizing each locomotion environment and, ultimately, motion planning and traversal through arbitrary scenarios situated in those environments. 41,44…”

Section: Discussionmentioning

confidence: 99%

“…The gait modeling approach taken here facilitates convenient dynamical models with specific applications to parallel studies. [41][42][43][44] Fitting of articulated chains to these continuous body gait models is quickly accomplished to yield commandable joint trajectories with good fit to the desired body shape.…”

Section: Gait Generationmentioning

confidence: 99%

“…We are currently working on modeling the dynamics of rectilinear movement to explore this conjecture. 41,42…”

Section: Traveling Wave Rectilinear Motionmentioning

confidence: 99%

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Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots

Chang

Vela

2019

Robotica

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SummaryThe unique frictional properties conferred by snake ventral scales inspired the engineering and fabrication of surrogate mechanisms for a robotic snake. These artificial, biologically inspired scales produce anisotropic body-ground forcing patterns with various locomotion surfaces. The benefits they confer to robotic snake-like locomotion were evaluated in experimental trials employing rectilinear, lateral undulation, and sidewinding gaits over several distinct surface types: carpet, inhomogeneous concrete and homogeneous concrete. Enhanced locomotive performance, with respect to net displacement and heading stability, was consistently measured in scenarios that utilized the engineered scales, over equivalent scenarios where the anisotropic effects of scales were absent.

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Section: Discussionmentioning

confidence: 99%

Section: Gait Generationmentioning

confidence: 99%

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Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots

Chang

Vela

2019

Robotica

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“…This paper includes an analytic approximation for the deformable surface of a bendable cuboid robot. It lies in the middle ground between physical and non-physical approximations since the control parameter of the deformable shape is the curvature of bending (which can be controlled in many applications, [15], [25], [26]) but is not influenced by external forces. This analytic model allows the construction of a set of equality and inequality constraints combined with logical AND operations as a function of the configuration of the robot in SE(3) and the curvature control parameter, which altogether represent the safety constraints for the bendable cuboid robot.…”

Section: Introductionmentioning

confidence: 99%

“…This analytic model allows the construction of a set of equality and inequality constraints combined with logical AND operations as a function of the configuration of the robot in SE(3) and the curvature control parameter, which altogether represent the safety constraints for the bendable cuboid robot. The proposed bendable cuboid model can be used for the deformable safety guard of a continuum manipulator [15], a soft fiber-reinforced bending actuator [25], and an average snake body frame [26].…”

Section: Introductionmentioning

confidence: 99%

Bendable Cuboid Robot Path Planning with Collision Avoidance using Generalized $L_p$ Norms

Hyun,

Vela,

Verriest

2017

Preprint

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Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized Lp norms. For regular cuboid robots, level sets of weighted Lp norms generate implicit approximations of their surfaces. For bendable cuboid robots a weighted Lp norm in polar coordinates implicitly approximates the surface boundary through a specified level set. Obstacle volumes, in the environment to navigate within, are presumed to be approximately described as sub-level sets of weighted Lp norms. Using these approximate surface models, the optimal safe path planning problem is reformulated as a two stage optimization problem, where the safety constraint depends on a point on the robot which is closest to the obstacle in the obstacle's distance metric. A set of equality and inequality constraints are derived to replace the closest point problem, which is then defines additional analytic constraints on the original path planning problem. Combining all the analytic constraints with logical AND operations leads to a general optimal safe path planning problem. Numerically solving the problem involve conversion to a nonlinear programing problem. Simulations for rigid and bendable cuboid robot verify the proposed method.

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Shape-centric modeling for control of traveling wave rectilinear locomotion on snake-like robots

Chang

Vela

2020

Robotics and Autonomous Systems

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Closed-loop path following of traveling wave rectilinear motion through obstacle-strewn terrain

Cited by 3 publications

References 15 publications

Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots

Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots

Bendable Cuboid Robot Path Planning with Collision Avoidance using Generalized $L_p$ Norms

Shape-centric modeling for control of traveling wave rectilinear locomotion on snake-like robots

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