Parameterized and Scripted Gaits for Modular Snake Robots

Tesch, Matthew; Lipkin, Kevin; Brown, Isaac; Hatton, Ross L.; Peck, A.; Rembisz, Justine; Choset, Howie

doi:10.1163/156855309x452566

Cited by 211 publications

(160 citation statements)

References 10 publications

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“…These policies map environment parameters (slope and crevise width) into a 2-D gait parameter control space (see [1]). The EPSI algorithm was compared to random point selection.…”

Section: B Simulation and Physical System Resultsmentioning

confidence: 99%

“…We demonstrate the efficacy of these methods on a set of test functions, and then show results of several control policies created using these methods, applied to both simulated systems and physical robots. Specifically, we demonstrate improved locomotion over changing terrain for the snake robots described in [1], as compared to a control policy generated through random sampling of the environment and control parameter spaces.…”

Section: Fig 1: (A)mentioning

confidence: 99%

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Adapting control policies for expensive systems to changing environments

Tesch

Schneider

Choset

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Many controlled systems must operate over a range of external conditions. In this paper, we focus on the problem of learning a policy to adapt a system's controller based on the value of these external conditions in order to always perform well (i.e., maximize system output). In addition, we are concerned with systems for which it is expensive to run experiments, and therefore restrict the number that can be run during training. We formally define the problem setup and the notion of an optimal control policy. We propose two algorithms which aim to find such a policy while minimizing the number of system output evaluations. We present results comparing these algorithms and various other approaches and discuss the inherent tradeoffs in the proposed algorithms. Finally, we use these methods to train both simulated and physical snake robots to automatically adapt to changing terrain, and demonstrate improved performance on test courses with changing environments.

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“…These policies map environment parameters (slope and crevise width) into a 2-D gait parameter control space (see [1]). The EPSI algorithm was compared to random point selection.…”

Section: B Simulation and Physical System Resultsmentioning

confidence: 99%

Section: Fig 1: (A)mentioning

confidence: 99%

Adapting control policies for expensive systems to changing environments

Tesch

Schneider

Choset

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…The complex power spectrum is possible to obtain by dividing the energy spectrum with the integration time t. The integrated relations are the Fourier transform expressions and can be calculated by FFT algorithm [21][22][23][24][25][26][27][28].…”

Section: Optimization Of the Dynamic Behaviormentioning

confidence: 99%

Assisted Methods for Optimization in Robotics

Olaru¹,

Hajduk²,

Olaru³

et al. 2017

IJMO

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Abstract-Optimization of the elements and systems from Robotics is one of the most complicated problem with the final goal to obtain the end-effecters' 3D extreme space precision trajectory. In the paper are shown some of the proper methods for optimization in Robotics: optimal Extenics choose of the precision-stability working point of one linear hydraulic cylinder; modelling and optimization of the DC electrical drive of the robots; optimising the dynamic behaviour of the robots by using the intelligent dampers; optimise the inverse kinematics results by using one complex proper method; optimise the multi robots application by using the algorithm to choose the optimal application points of the robots' bases and by construct the parallel robot structure using three arm type robots. All applied method solves one small part of the complex problems of the optimisation in robotics.Index Terms-Assisted optimization LabVIEW methods, forward kinematics, inverse kinematics, dynamic behavior, 3D space trajectory.

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“…Currently, a number of snake-like robots can achieve diverse locomotion, for instance, serpentine forward [2], roll to the sideways [3], climb along poles, and swim under water [4]. However, none of those snake-like robots can achieve autonomous locomotion, i.e., the capabilities to autonomously decide how, when, and where to move.…”

Section: Introductionmentioning

confidence: 99%

“…BACKGROUND Unlike other land animals with legs, snakes achieve diverse locomotion by twisting their bodies on various terrain, such as desert, swamps, and water. Those cyclic twisting motions helping snakes achieve different locomotion capabilities, are called gaits [3]. There are four common gaits for most snakes, i.e., the serpentine gait, reticular gait, sidewinding gait, and concertina gait [1].…”

Section: Introductionmentioning

confidence: 99%

Towards autonomous locomotion: Slithering gait design of a snake-like robot for target observation and tracking

Bing

Cheng

Huang³

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper, a biologically inspired 3D slithering gait for a snake-like robot is designed and implemented for the purpose of target tracking. First, by balancing the forward speed and the stability of the robot, a straight slithering gait is modelled, under which the robot can march straight, fast, and stably. Then, for the purpose of steering, the straight slithering gait is modified into a biased slithering gait. The relationship between turning radius and gait parameters is analyzed by the resistive force theory. With the head composition algorithm, we investigate the orientation problem of the snake robot's head module to obtain stable visual information during the locomotion process. Finally, with the guidance of the vision sensor mounted in the head module, target tracking simulations and prototype experiments are conducted to demonstrate the practicality and effectiveness of the slithering gait in autonomous locomotion scenarios.

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Parameterized and Scripted Gaits for Modular Snake Robots

Cited by 211 publications

References 10 publications

Adapting control policies for expensive systems to changing environments

Adapting control policies for expensive systems to changing environments

Assisted Methods for Optimization in Robotics

Towards autonomous locomotion: Slithering gait design of a snake-like robot for target observation and tracking

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