Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration

Takemori, Tatsuya; Tanaka, Motoyasu; Matsuno, Fumitoshi

doi:10.1109/tro.2018.2830346

Cited by 85 publications

(34 citation statements)

References 8 publications

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“…This is likely attributed to the animal's more continuous body, additional body compliance in other directions (e.g., rolling, lateral), and ability to actively adjust its body [65] using sensory feedback [66] to conform to the terrain beyond achievable by passive body compliance. Future studies should elucidate how snakes, and how snake robot should, use tactile sensory feedback control [56][57][58]60] and combine control compliance [35,58] with mechanical compliance [54,60,67] along multiple directions [52] to stably traverse large, smooth obstacles.…”

Section: Summary and Future Workmentioning

confidence: 99%

Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

2020

R. Soc. open sci.

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Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such "anchor points" is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability.

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Section: Summary and Future Workmentioning

confidence: 99%

Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

2020

R. Soc. open sci.

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“…10 For example, snake robots can climb over a flange on a pipe, but the robot's design is too complex and motion is not flexible because it is formed by connecting 10 segments with different motions. 11 The rise of soft robots has brought new solutions to the above problems because they consist of deformable soft materials, which can meet the high demand of compliance, durability, and elasticity. [12][13][14][15] Hence, soft robots have been developed to adapt to special environments according to their excellent characteristics.…”

Section: Introductionmentioning

confidence: 99%

A Quadruped Soft Robot for Climbing Parallel Rods

et al. 2020

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SUMMARY Soft robots can perform effectively inspecting than rigid robots in some special environments such as nuclear pipelines and high-voltage cables. This article presents a versatile quadruped soft rod-climbing robot (SR-CR) that consists of four bending actuators and a telescopic actuator. The bending actuator is composed of flexible bellows with multiple folding air chambers, elastic telescopic layer (ETL), and strain-limiting layer (SLL). The telescopic actuator provides the energy for the robot to climb forward. The SR-CR is activated by a control strategy that alternates the body deformation and feet pneumatic clenched for stable climbing. The robot can climb rods at 90°, with the maximum speed of up to 2.33 mm/s (0.018 body length/s). At 0.83 HZ, the maximum moving speed of the robot in climbing horizontally parallel rods can reach 18.43 mm/s. In addition, the SR-CR can also achieve multiple impressive functions, including turning around a corner at a rate of 7 mm/s (0.054 body length/s), carrying a payload of 3.7 times its self-weight on horizontal rods at a speed of 9 mm/s (0.069 body length/s).

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“…Jumping robots feature a class of robots moving with a periodic separation from the surface [1][2][3]. Their advantage in comparison with other classes of robotic devices is a high maneuverability when moving on a rough terrain, as well as the ability to overcome various obstacles (fences, stairways, trenches, etc.)…”

Section: Introductionmentioning

confidence: 99%

An Approach to Moving over Obstacles for a Wheeled Jumping Robot

Ворочаева¹,

Савин²,

Malchikov³

2020

Nelin. Dinam.

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This paper approaches the issue of the jumping robot overcoming one step of a flight of stairs. A classification of obstacles according to the way they are surmounted is proposed, the basic concepts concerning the flight of stairs and the realization of a leap from one step to another are introduced. A numerical simulation of a robot's jump, carried out with a certain initial velocity, the vector of which is located at a certain angle to the horizon, has been carried out. The influence on the ranges of these two values of the numerical values of the height and the length of the step, the ratios between the length and the height of the step, as well as the distance to the step from which the jump is performed have been established.

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Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration

Cited by 85 publications

References 8 publications

Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

A Quadruped Soft Robot for Climbing Parallel Rods

An Approach to Moving over Obstacles for a Wheeled Jumping Robot

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