Indoor and outdoor parametrized gait execution with modular snake robots

Melo, Kamilo; Paez, Laura; Parra, Carlos

doi:10.1109/icra.2012.6224768

Cited by 24 publications

(19 citation statements)

References 6 publications

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“…For those snake-like robots with 3D locomotion ability, Choset [12] proposed a parameterized gait equation by simplifying the serpenoid curve into sine functions, which can achieve a variety of gaits for different application scenarios. Based on the gait equation, Melo [13] conducted numerous experiments to select appropriate parameters for repeatable gaits under mechanical constraints and theoretical rules of modular snake robots, and proposed several indoor and outdoor gaits for a modular snake robot [13].…”

Section: Related Workmentioning

confidence: 99%

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CPG-based control of smooth transition for body shape and locomotion speed of a snake-like robot

Bing

Cheng

Huang³

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this paper, a lightweight central pattern generator(CPG) model is designed for a snake-like robot, to achieve smooth transition of body shape and locomotion speed. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time is designed and compared with other widely adopted CPG models. Then, the body shape and locomotion speed transitions in rolling gait are simulated based on the proposed CPG model. Compared with the sinusoid-based method, a smooth transition process can be achieved, without generating undesired movement or abnormal torque. Finally, extensive prototype experiments are conducted to demonstrate that the CPG-based control can effectively ensure smooth transition process and avoid abnormal torque, when the body shape and locomotion speed are changed.

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Section: Related Workmentioning

confidence: 99%

“…where A{i, :} is the i th row vector in (12), B{i, :} is the i th row vector in (13). Φ is the vector of the phase of the CPG neurons andΘ is the vector of the phase difference amoung the CPG neurons.…”

Section: A Mathematical Model Of Cpg Networkmentioning

confidence: 99%

CPG-based control of smooth transition for body shape and locomotion speed of a snake-like robot

Bing

Cheng

Huang³

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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“…A variety of gaits can be programmed [3], using a parameterized scheme [7]. However, not all the gaits suited for these cylindrical surfaces have the same performance, efficiency and mechanical stability.…”

Section: Introductionmentioning

confidence: 99%

“…The potential of moving in such surfaces, derive in possible application fields like pipe inspection, moving on tree branches [8] or series of bushes [3], as shown in figure 1. Fig.…”

Section: Introductionmentioning

confidence: 99%

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Modular snake robot gaits on horizontal pipes

Melo¹,

Paez²

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, a comparative analysis of different gaits were done using modular snake robots. They move along different sizes of horizontal pipes. Pipe sizes were chosen according to robot's length. Gaits were chosen to match robot stability and effectiveness criteria on these surfaces. A description of gait design process is shown. Parametrized schemes were used to control the robot. A visualization tool was used to validate the gait designs prior their implementation on the real robot. Performance metrics, regarding robot's locomotion speed and energy efficiency were developed. A series of experiments were carried out to compare the performance of the selected gaits under these criteria. The experiments can be observed on the accompanying video. Among selected gaits, lateral rolling has demonstrated to be suitable for every pipe size. The fastest speed v = 46.5cm/s, and the most efficient locomotion, under the metrics proposed here, are also shown.

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