Simulation and control integrated framework for modular snake robots locomotion research

Melo, Kamilo; León, Juán; Monsalve, Jose; Fernandez, Vivian; Gonzalez, Daniel

doi:10.1109/sii.2012.6427341

Cited by 7 publications

(1 citation statement)

References 8 publications

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“…Various mathematical models and motion patterns were also presented for snake robots. [6][7][8] Yu et al 9 developed the control and modality of a snake robot to move in a three dimensional (3D) pattern. The central pattern generator (CPG) models for snake-like robots are presented in Rezaei et al, 10 Zhang et al, 11 Bing et al, 12 and Qiao et al 13 Although their research varies greatly in physical configuration and purpose, they all mimic the locomotion of snakes.…”

Section: Introductionmentioning

confidence: 99%

Sensing pipes of a nuclear power mechanism using low-cost snake robot

Huang

Hung

et al. 2018

Advances in Mechanical Engineering

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Snake robots have come to represent a new subfield of bionic robot research in recent years. A snake robot comprises many modules and performs various movements in arranged connections. The structure of a snake body enables it to move smoothly in narrow spaces or pipes with high stability and reliability. This article studies the application of a snake robot on a large-scale nuclear power facility to sense in pipe components. Therefore, a snake robot must move in pipes in which high radiation is present to explore the surrounding environment and take samples. A simple but effective method of locomotion is developed and executed to confirm feasibility of motion, especially in narrow space. A sampling mechanism with a storage box is designed at the tail of the snake to take and keep the samples well at designated locations. We built a pipe system which has two right-angled turns to simulate the pipes of a large-scale nuclear power facility. A user interface helps operators to manipulate the snake robot.

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