Shape-centric modeling for control of traveling wave rectilinear locomotion on snake-like robots

Chang, Alexander H.; Vela, Patricio A.

doi:10.1016/j.robot.2019.103406

Cited by 11 publications

(4 citation statements)

References 39 publications

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“…The development of snake-like robots has a long history that started with the study of real snakes’ motion [ 1 ], which provided the mathematical basis. Then, various bio-inspired mechanical designs were introduced to achieve the snake-like configurations [ 2 , 3 , 4 , 5 ], and the motion control and planning methods were then proposed for the snake-like locomotion [ 6 , 7 , 8 , 9 , 10 ]. The most unique feature of snake-like robots compared to other legged robots is obstacle-aided locomotion [ 11 ], which depends on explicit obstacles for pushing itself and moving forward.…”

Section: Introductionmentioning

confidence: 99%

Generalized Design, Modeling and Control Methodology for a Snake-like Aerial Robot

Zhao

Nishio

2023

Sensors

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Snake-like robots have been developing in recent decades, and various bio-inspired ideas are deployed in both the mechanical and locomotion aspects. In recent years, several studies have proposed state-of-the-art snake-like aerial robots, which are beyond bio-inspiration. The achievement of snake-like aerial robots benefits both aerial maneuvering and manipulation, thereby having importance in various fields, such as industry surveillance and disaster rescue. In this work, we introduce our development of the modular aerial robot which can be considered a snake-like robot with high maneuverability in flight. To achieve such flight, we first proposed a unique thrust vectoring apparatus equipped with dual rotors to enable three-dimensional thrust force. Then, a generalized modeling method based on dynamics approximation is proposed to allocate the wrench in the center-of-gravity (CoG) frame to thrust forces and vectoring angles. We further developed a generalized control framework that can handle both under-actuated and fully actuated models. Finally, we show the experimental results with two different platforms to evaluate the flight stability of the proposed snake-like aerial robot. We believe that the proposed generalized methods can provide a solid foundation for the snake-like aerial robot and its applications regarding maneuvering and manipulation in midair.

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Section: Introductionmentioning

confidence: 99%

Generalized Design, Modeling and Control Methodology for a Snake-like Aerial Robot

Zhao

Nishio

2023

Sensors

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“…Another aspect of orientation-dependent anisotropy has been also studied in active scales which induce frictional anisotropy for efficient snake locomotion (e.g., sidewinding and rectilinear locomotion) [21][22][23]. This active scale-enhanced frictional anisotropy principle has been further explored and applied for locomotion of snakelike robots [24,25].…”

Section: Introductionmentioning

confidence: 99%

Getting grip in changing environments: the effect of friction anisotropy inversion on robot locomotion

et al. 2021

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Legged locomotion of robots can be greatly improved by bioinspired tribological structures and by applying the principles of computational morphology to achieve fast and energy-efficient walking. In a previous research, we mounted shark skin on the belly of a hexapod robot to show that the passive anisotropic friction properties of this structure enhance locomotion efficiency, resulting in a stronger grip on varying walking surfaces. This study builds upon these results by using a previously investigated sawtooth structure as a model surface on a legged robot to systematically examine the influences of different material and surface properties on the resulting friction coefficients and the walking behavior of the robot. By employing different surfaces and by varying the stiffness and orientation of the anisotropic structures, we conclude that with having prior knowledge about the walking environment in combination with the tribological properties of these structures, we can greatly improve the robot’s locomotion efficiency.

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“…However, to overcome environmental irregularities, such as those that are found following disasters, snake robots need to use the optimal gait type according to the terrain, and a complex mathematical model to find the optimal gait type for each terrain is required [12][13][14][15][16]. In addition, a complicated semi-autonomous algorithm is needed to change the optimal gait type based on the terrain after receiving information about the terrain from additional sensors [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

“…There has been no research into the additional mechanisms or body shapes of a snake robot that can help snake robots to move efficiently on steep slopes, like those shown in Figure 1. In addition, the body shape of conventional snake robots is cylindrical or rectangular [1][2][3][4][5][6][9][10][11][12][13][14][15][17][18][19][20][21][22]. For this reason, when the snake robot moves sideways on the steep slope, the robot rolls down, and the stability is highly decreased.…”

Section: Introductionmentioning

confidence: 99%

Snake Robot with Driving Assistant Mechanism

et al. 2020

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Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments. It was possible to overcome grasslands and a 27 degrees slope without using additional driving controllers. In conclusion, we expect that a snake robot can conduct a wide range of missions well, such as exploring disaster sites and rough terrain, by using the proposed mechanism.

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Shape-centric modeling for control of traveling wave rectilinear locomotion on snake-like robots

Cited by 11 publications

References 39 publications

Generalized Design, Modeling and Control Methodology for a Snake-like Aerial Robot

Generalized Design, Modeling and Control Methodology for a Snake-like Aerial Robot

Getting grip in changing environments: the effect of friction anisotropy inversion on robot locomotion

Snake Robot with Driving Assistant Mechanism

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