Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing

Greenfield, Aaron; Choset, Howie

doi:10.1109/robot.2005.1570398

Cited by 29 publications

(14 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Without position or heading control [2], [128], [80], [129], [130], [69], [131], [132], [78], [133], [134].…”

Section: Locomotion In Environments With Obstaclesmentioning

confidence: 99%

“…The goal of the motion controller is to avoid the obstacles. In [130], an algorithm is presented that takes contact constraints on a snake robot into account in order to compute the joint torques that produce the desired motion. The algorithm is applied to achieve climbing motion with a snake robot.…”

Section: Controllers For Locomotion In Environments With Obstaclesmentioning

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

“…Without position or heading control [2], [128], [80], [129], [130], [69], [131], [132], [78], [133], [134].…”

Section: Locomotion In Environments With Obstaclesmentioning

confidence: 99%

Section: Controllers For Locomotion In Environments With Obstaclesmentioning

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

“…In [8], an algorithm is presented that takes contact constraints on a snake robot into account in order to compute the joint torques that produce the desired motion. The algorithm is applied to achieve climbing motion with a snake robot.…”

Section: Control Design For Adaptive Snake Robot Locomotionmentioning

confidence: 99%

Two new design concepts for snake robot locomotion in unstructured environments

Liljebäck

Stavdahl

Pettersen

et al. 2010

Paladyn, Journal of Behavioral Robotics

View full text Add to dashboard Cite

This communication presents and justifies ideas related to motion control of snake robots that are currently the subject of ongoing investigations by the authors. In particular, we highlight requirements for intelligent and e cient snake robot locomotion in unstructured environments, and subsequently we present two new design concepts for snake robots that comply with these requirements. The first design concept is an approach for sensing environment contact forces, which is based on measuring the joint constraint forces at the connection between the links of the snake robot. The second design concept involves allowing the cylindrical surface of each link of a snake robot to rotate by a motor inside the link in order to induce propulsive forces on the robot from its environments. The paper details the advantages of the proposed design concepts over previous snake robot designs.

show abstract

“…Mobile robots that climb and traverse trusses have been investigated previously [2]- [6]. Amano et al developed a handrail-gripping robot for fire fighting [4].…”

Section: A Related Workmentioning

confidence: 99%

Shady3D: A Robot that Climbs 3D Trusses

Yoon¹,

Rus²

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Abstract-This paper describes a truss climbing robot we designed and prototyped. The robot has a minimalist design with three motive degrees of freedom that enable movement along three-dimensional truss structures. This robot can form a six-degree-of-freedom structure by connecting to another identical module using a passive bar as a medium. We present the design and implementation of this robot, control algorithms for moving the robot in a 3-D truss structure, and hardware experiments.

show abstract

Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing

Cited by 29 publications

References 12 publications

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

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

Two new design concepts for snake robot locomotion in unstructured environments

Shady3D: A Robot that Climbs 3D Trusses

Contact Info

Product

Resources

About