Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints

Transeth, Aksel Andreas; Leine, Remco I.; Glocker, Christian; Pettersen, Kristin Y.

doi:10.1109/robio.2006.340096

Cited by 13 publications

(28 citation statements)

References 14 publications

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“…Some focus purely on the kinematic aspects of locomotion 14,22,36,86 while others also include the dynamics. 4,15,19,47,51,57 The use of a purely kinematic model simplifies both the model and the analysis of locomotion, and factors that contribute to locomotion have been highlighted. 14 Passive wheels help defend the no-slip assumption of some kinematic models, but it may be difficult to control the joint torques such that the wheels do not slip.…”

Section: Discussion and Future Research Topicsmentioning

confidence: 99%

“…During recent years, 3D dynamic models based on the Newton-Euler equations have been presented. 29,50,51 Ma et al 50 have derived mathematical expressions for the joint torques and head configuration, but for the gait analysis, the model has been simplified to planar movement with a varying ground contact force which affects the friction forces on each link. Hence, there are still numerous challenges in the analytical investigation of the dynamics of 3D locomotion.…”

Section: Discussion and Future Research Topicsmentioning

confidence: 99%

“…(4). Instead, the collisions between the snake robot and the ground surface or the obstacles are modeled as completely inelastic by Transeth et al 51,52,62 The resulting equations that govern the motion of the snake robot are found from the Newton-Euler equations, and the normal contact forces and friction forces are found from a transformation of the set-valued force laws.…”

Section: Nonsmooth Dynamicsmentioning

confidence: 99%

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A survey on snake robot modeling and locomotion

2009

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SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10-15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

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Section: Discussion and Future Research Topicsmentioning

confidence: 99%

Section: Discussion and Future Research Topicsmentioning

confidence: 99%

Section: Nonsmooth Dynamicsmentioning

confidence: 99%

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A survey on snake robot modeling and locomotion

2009

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“…T (see [10], [11], [13], [18], [19] for an introduction to setvalued force laws and non-smooth dynamics).…”

Section: ) Kinematicsmentioning

confidence: 99%

“…More specifically, a set-valued force law is needed to accurately describe directional Coulomb friction with stickslip transitions during motion. See [10]- [13] for more details on the advantages of modeling with set-valued force laws. The nonlinear control techniques (input-output linearization techniques [14], [15]) employed in this paper, however, are generally only fit to cope with smooth nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Tracking control for snake robot joints

Transeth

Wouw

Павлов

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper considers the problem of model based control of the joints of a snake robot without wheels. The potential range of applications for snake robots are numerous, and delicate operations such as inspection and maintenance in industrial environments or performing search and rescue operations require precise control of a snake robot joints. To this end we present a controller that asymptotically stabilizes the joints of the snake robot to a desired reference trajectory. The controller is based on input-output linearization of a control plant model of the snake robot dynamics also developed in this paper. In addition, we provide a formal Lyapunov-based proof of the closed-loop stability, together with simulation results for a smooth dynamical model. Finally, the performance of the controller is tested on a non-smooth snake robot model with set-valued Coulomb friction that offers an accurate description of the stick-slip transitions during locomotion.

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Mechanism Design and Locomotion of a Snake Robot

Gao

Wang

Shang

et al. 2013

Advances in Intelligent Systems and Computing

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As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. In the paper, a snake-like robot based on cylinder module is developed. The robot prototype consists of eleven modules that are connected by revolute joints. Each joint has two degrees of freedom and allows bending in two mutually orthogonal planes. The serpenoid curve is considered as the control law and control parameters of snake curve are chosen by simulation and adjusted after experiment. Experimental results of snake robot show that the gait based on serpentine curve is reasonable and controlled easily.

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Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints

Cited by 13 publications

References 14 publications

A survey on snake robot modeling and locomotion

A survey on snake robot modeling and locomotion

Tracking control for snake robot joints

Mechanism Design and Locomotion of a Snake Robot

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