Simplified motion modeling for snake robots

Enner, Florian; Rollinson, David; Choset, Howie

doi:10.1109/icra.2012.6225163

Cited by 32 publications

(12 citation statements)

References 15 publications

(23 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For our lab's modular snake robots, we are currently working to build generic motion models using only knowledge of the robot's internal shape changes. 10 This is accomplished by averaging the movement of modules on the bottom of the robot, as defined by the flattest principle direction of the robot's shape in the virtual chassis. As a tool for designing new motions for the robot, the virtual chassis allows us to easily observe the macroscopic motion of the robot, without having to iteratively test the motions on a real robot or in physical simulator that models ground contact.…”

Section: Discussionmentioning

confidence: 99%

Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations

Rollinson¹,

Hatton²,

Choset³

2012

Adaptive Mobile Robotics

View full text Add to dashboard Cite

Although any set of generalized coordinates can be used to represent the motion of a system, the choice of coordinates can greatly effect the ease of its analysis. Notably, the choice of body frame can affect a system's representational clarity as well as the computational accuracy of any linear approximations. In this paper we examine how departing from the typical convention of rigidly fixing a body frame to a system and instead carefully choosing the body frame can provide these benefits to a number of articulated locomoting systems, namely modular snake robots and planar swimming systems.

show abstract

Section: Discussionmentioning

confidence: 99%

Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations

Rollinson¹,

Hatton²,

Choset³

2012

Adaptive Mobile Robotics

View full text Add to dashboard Cite

show abstract

“…9,10 Enner et al and Rollinson and Choset utilized the sin-based method for controlling the 3D locomotion of snake-like robots. 11,12 The authors introduced a new phase bias variable to determine the relation between the pitch and yaw joint groups. However, the major defect of sin-based method is that it cannot ensure the smooth gait transition.…”

Section: Introductionmentioning

confidence: 99%

Triple-layered central pattern generator-based controller for 3D locomotion control of snake-like robots

Qiao

Zhang

Wen

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Due to the great adaptability, snake-like robots can serve as special intelligent service robots. In this article, a novel triplelayered central pattern generator (CPG)-based controller is proposed to control the 3D locomotion of snake-like robots. The proposed triple-layered CPG includes a rhythm generation layer, a pattern generation layer, and a motoneuron layer. The nonlinear Kuramoto oscillator and the rhythmic dynamic movement primitive are, respectively, used to model the interneurons and motoneurons. The triple-layered CPG can flexibly generate the multidimensional phase-coordinated control signals of snake-like robots. Firstly, the architecture of the proposed triple-layered CPG is validated, and the impacts of control parameters on the outputs are numerically analyzed. Secondly, the smooth locomotion transition process of the triple-layered CPG is discussed. Finally, the performances of the proposed triple-layered CPG for controlling snake-like robots have been evaluated through the co-simulation of Simulink and MSC Adams [version 2012]. The results illustrate that the proposed triple-layered CPG can easily and flexibly generate continuous and smooth for controlling 3D locomotion of snake-like robots. It can improve the mobility and adaptability of snake-like robots.

show abstract

“…In addition to advanced robot design, CMU also introduced a simplified motion model for snake robots gaits [37]. The model outputs a close approximation to robot motion and does not consider the true forces acting on the robot or the true shape of terrain that the robot traverses.…”

Section: Related Workmentioning

confidence: 99%

Design and Modeling of a New Drive System and Exaggerated Rectilinear-Gait for a Snake-Inspired Robot

Hopkins

Gupta

2014

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

In recent years, snake-inspired locomotion has garnered increasing interest in the bio-inspired robotics community. This positive trend is largely due to the unique and highly effective gaits utilized by snakes to traverse various terrains and obstacles. These gaits make use of a snake's hyper-redundant body structure to adapt to the terrain and maneuver through tight spaces. Snakeinspired robots utilizing rectilinear motion, one of the primary gaits observed in natural snakes, have demonstrated favorable results on various terrains. However, previous robot designs utilizing rectilinear gaits were slow in speed. This paper presents a design and an exaggerated rectilinear gait concept for a snake-inspired robot which overcomes this limitation. The robot concept incorporates high speed linear motion and a new multi-material, variable friction force anchoring concept. A series of traction experiments are conducted to determine appropriate materials to be used in the friction anchor design. The gait concept includes four unique gaits: a forward and a turning gait, which both emphasize speed for the robot; and a forward and turning gait which emphasize traction. We also report a comparative study of the performance of prototype robot designed using these concepts to other published snake-inspired robot designs.

show abstract

Simplified motion modeling for snake robots

Cited by 32 publications

References 15 publications

Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations

Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations

Triple-layered central pattern generator-based controller for 3D locomotion control of snake-like robots

Design and Modeling of a New Drive System and Exaggerated Rectilinear-Gait for a Snake-Inspired Robot

Contact Info

Product

Resources

About