Design and Modeling of a Snake Robot Based on Worm-Like Locomotion

Akbarzadeh, Alireza; Kalani, Hadi

doi:10.1163/156855311x617498

Cited by 11 publications

(11 citation statements)

References 18 publications

(31 reference statements)

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“…can use the dynamical model presented by Akbarzadeh et al [32] based on Euler Lagrange method and employ a spring damper contact model to compare the required motor torque to perform pedal wave motion with the experimental results provided by the torque sensing mechanism.…”

Section: Pedal Wave Locomotion On Smooth Surfacesmentioning

confidence: 99%

“…Considering the expression for the kinetic energy of the system due to the translational and rotational velocity of the links and the potential energy of the system due to gravity (see Akbarzadeh et al. [32] ), it is now possible to construct the equations of motion of pedal wave motion as follows: It should be noted that, although obtaining the expression for the kinetic and potential energy of the system is straight forward, calculation of the vector of non-conservative external forces 2 , requires modelling the interaction between the environments and the robot. Hence, in pedal wave motion, which modelling the contact between the robot links and the ground is required, one can use the well-known spring damper contact model as shown in Fig.…”

Section: Pedal Wave Locomotion On Smooth Surfacesmentioning

confidence: 99%

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Design and Development of a Wheel-less Snake Robot with Active Stiffness Control for Adaptive Pedal Wave Locomotion

et al. 2019

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This paper presents the design and manufacture process of a wheel-less, modular snake robot with Series Elastic Actuators to reliably measure motor torque signal and investigate the effectiveness of active stiffness control for achieving adaptive snake-like locomotion. A Polyurethane based elastic element to be attached between the motor and the links at each joint has been designed and manufactured using water jet cutter, which made the final design easier to develop and more cost-effective, compared to existing snake robots with torque measurement capabilities. The reliability of such torque measurement mechanism examined using simulated dynamical model of pedal wave motion, which proved the efficacy of the design. A distributed control system is also designed, which with the help of an admittance controller, enables active control of the joint stiffness to achieve adaptive snake robot pedal wave locomotion to climb over obstacles, which unlike existing methods does not require prior information about the location of the obstacle. The effectiveness of the proposed controller in comparison to open-loop control strategy has been shown by the number of experiments, which showed the capability of the robot to successfully climb over obstacles with the height of more than 55% of the diameter of the snake robot modules.

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Section: Pedal Wave Locomotion On Smooth Surfacesmentioning

confidence: 99%

Section: Pedal Wave Locomotion On Smooth Surfacesmentioning

confidence: 99%

Design and Development of a Wheel-less Snake Robot with Active Stiffness Control for Adaptive Pedal Wave Locomotion

et al. 2019

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“…Some recent works such as [6] have proposed a modelling framework based on series of connected mass and springs to model such motion, which is only suitable for biological snakes modelling. More recently, in [14] based on the well-known Newton principle and in [15] using the Euler-Lagrange method the dynamical equation of pedal wave motion is obtained. However, in both of these works it is assumed that the number of contact points remains constant during the motion, and the normal forces are obtained based on the force and moment balance.…”

Section: Introductionmentioning

confidence: 99%

Dynamical Modelling and Control of Snake-Like Motion in Vertical Plane for Locomotion in Unstructured Environments

Koopaee

Pretty

Classens

et al. 2019

Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

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This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment.

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“…Relationship between FHS gait parameters and friction coefficients of the ground were also developed. Akbarzadeh and Kalani 9,10 used serpenoid curve and obtained the dynamics of a worm-like locomotion. Motion stability was also investigated.…”

Section: Introductionmentioning

confidence: 99%

“…They mostly attempt to mimic locomotion of real snakes; however, some use nonsnake-like gaits. [7][8][9][10] For example, some snake robots use powered wheels or tank treads, while others use passive wheels or no wheels. Some designs are able to travel on ground or in water environments and some can travel in both environments.…”

Section: Introductionmentioning

confidence: 99%

Application of statistical techniques in modeling and optimization of a snake robot

2012

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SUMMARYThis paper provides a general framework based on statistical design and Simulated Annealing (SA) optimization techniques for the development, analysis, and performance evaluation of forthcoming snake robot designs. A planar wheeled snake robot is considered, and the effect of its key design parameters on its performance while moving in serpentine locomotion is investigated. The goal is to minimize energy consumption and maximize distance traveled. Key kinematic and dynamic parameters as well as their corresponding range of values are identified. Derived dynamic and kinematic equations of n-link snake robot are used to perform simulation. Experimental design methodology is used for design characterization. Data are collected as per full factorial design. For both energy consumption and distance traveled, logarithmic, linear, and curvilinear regression models are generated and the best models are selected. Using analysis of variance, ANOVA, effects of parameters on performance of robots are determined. Next, using SA, optimum parameter levels of robots with different number of links to minimize energy consumption and maximize distance traveled are determined. Both single and multi-criteria objectives are considered. Webots and Matlab SimMechanics software are used to validate theoretical results. For the mathematical model and the selected range of values considered, results indicate that the proposed approach is quite effective and efficient in optimization of robot performance. This research extends the present knowledge in this field by identifying additional parameters having significant effect on snake robot performance.

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Design and Modeling of a Snake Robot Based on Worm-Like Locomotion

Cited by 11 publications

References 18 publications

Design and Development of a Wheel-less Snake Robot with Active Stiffness Control for Adaptive Pedal Wave Locomotion

Design and Development of a Wheel-less Snake Robot with Active Stiffness Control for Adaptive Pedal Wave Locomotion

Dynamical Modelling and Control of Snake-Like Motion in Vertical Plane for Locomotion in Unstructured Environments

Application of statistical techniques in modeling and optimization of a snake robot

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