How self-locking reduces actuators torque in climbing snake robots

Barazandeh, Farshad; Bahr, Behnam; Moradi, A.

doi:10.1109/aim.2007.4412524

Cited by 17 publications

(10 citation statements)

References 17 publications

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“…The robot was able to perform locomotion in different pipes and elbows. In [8], Barazandeh proposed a mathematical model of a climbing snake robot using a concertina pattern. By optimizing the proposed model, the results showed that self-locking could occur during the course of climbing, resulting in zero actuator torque.…”

Section: Review Of Snake Robot Applications In a Pipementioning

confidence: 99%

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Investigation of Snake Robot Locomotion Possibilities in a Pipe

et al. 2020

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This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

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Section: Review Of Snake Robot Applications In a Pipementioning

confidence: 99%

“…This model describes surfaces with the presence of liquid or solid oil. Stribeck friction can be expressed by Equation 8: (8) where is sliding speed, is Stribeck velocity, and k is an exponent. All mentioned friction models are shown in Figure 15.…”

Section: Friction Modelsmentioning

confidence: 99%

Investigation of Snake Robot Locomotion Possibilities in a Pipe

et al. 2020

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“…Chirikjian and Burdick implemented linear progression on their planar snake robot and Yim also implemented linear progression on his modular polybots [22]. Other research into robotic snake gaits includes Chirikjian and Burdick's basic research on sidewinding [4], and Barazandeh et al's examination of concertina locomotion [23]. Gonzalez-Gomez et al have demonstrated a model for various gaits that is perhaps the most similar to that presented here; however, their model is based on a set of coupled functions individually describing the angle for each joint, rather than a single function for the entire mechanism [24,25].…”

Section: Prior Snake Robot Modelingmentioning

confidence: 99%

A Mobile Robot Platform with Double Angle-Changeable Tracks

Gao

2009

Advanced Robotics

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Snake robots, sometimes called hyper-redundant mechanisms, can use their many degrees of freedom to achieve a variety of locomotive capabilities. These capabilities are ideally suited for disaster response because the snake robot can thread through tightly packed volumes, accessing locations that people and conventional machinery otherwise cannot. Snake robots also have the advantage of possessing a variety of locomotion capabilities that conventional robots do not. Just like their biological counterparts, snake robots achieve these locomotion capabilities using cyclic motions called gaits. These cyclic motions directly control the snake robot's internal degrees of freedom which, in turn, causes a net motion, say forward, lateral and rotational, for the snake robot. The gaits described in this paper fall into two categories: parameterized and scripted. The parameterized gaits, as their name suggests, can be described by a relative simple parameterized function, whereas the scripted cannot. This paper describes the functions we prescribed for gait generation and our experiences in making these robots operate in real experiments. and the mechanism, as compared to conventional wheeled devices and legged machines.The snake robots' potential to locomote in a variety of terrains suggests a number of practical applications. In particular, we have been interested in applying snake robot technology to aid rescue workers in locating victims who may be trapped in a collapsed or bombed building where mobility is severely limited and the environment is difficult to evaluate. In this scenario, snake robots are well suited to extend the reach of rescue workers and speed the retrieval of trapped victims. With a camera and microphone deployed at the distal end of the robot and other sensors along its body, rescue workers may be able to use snake robots to more quickly locate survivors and diagnose problems. Further, the snake robot can bring sustenance to survivors and potentially transfer supplies for rescue workers.Search and rescue, along with other safety, security and response applications, are thus facilitated by snake robot technology because of the many d.o.f. of these mechanisms. These many d.o.f., however, pose deep fundamental research questions, including but not limited to mechanism design and motion planning. In terms of mechanism design, we have already built a family of 16-d.o.f. snake robots [1, 2]. Our design is modular; each module consists of a standard hobby servo with electronics replaced to give the servos more power and to enable addressability. The electronics in each module include a microcontroller, H-bridge, switching power supply, magnetic encoder, current sensor and temperature sensor, all of which in turn perform low-level PID control, interfacing and safety checks. To produce motion in three dimensions, the axes of two adjacent modules are offset by 90 • .The primary contribution of this paper is not the robot itself, but rather the motion planning: determining the necessary inputs to the snake rob...

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“…[1][2][3] However, a relatively small number of studies on snake-like climbing robots, which can be divided into inner-climbing and outer-climbing types, have been conducted. [4][5][6] The outer-climbing type, as the current focus of research, is operating on the outer wall of cylinder tube to fulfill the climbing motion by winding. Nonetheless, the multiple degrees of freedom of snake-like robots would render the difficulty in inverse kinematic solution.…”

Section: Introductionmentioning

confidence: 99%

Gait planning of a scale-driven snake-like robot for winding and obstacle crossing

Wang

Yang

Guo

et al. 2017

Advances in Mechanical Engineering

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Gait planning is an effective approach aiming at the difficulty in locomotion control of a multi-degree-of-freedom snakelike robot. In this article, a gait-generating method is presented with regard to the issue of its locomotion control in the process of winding-crossing variable-diameter cylindrical obstacles involving a P-R-joint scale-driven snake-like robot. The proposed method solves the problem of trajectory discontinuity of variable-diameter helix lines through linear fitting in the process of the obstacle crossing of the robot. The collision/interference between the robot and the obstacle is avoided by adding an extended helix segment to the front and rear ends of the obstacle. For direct linear fitting of the locomotion trajectory curve that will lead to velocity discontinuity, B-spline curves are used for smooth transition on generating the trajectory curve. A simulation experiment analysis is performed to demonstrate that the proposed gaitgenerating method can enable the snake-like robot to cross variable-diameter cylindrical obstacles.

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How self-locking reduces actuators torque in climbing snake robots

Cited by 17 publications

References 17 publications

Investigation of Snake Robot Locomotion Possibilities in a Pipe

Investigation of Snake Robot Locomotion Possibilities in a Pipe

A Mobile Robot Platform with Double Angle-Changeable Tracks

Gait planning of a scale-driven snake-like robot for winding and obstacle crossing

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