Simulation Study of Snake-like Robot's Serpentine Locomotion Based on Recurdyn

Wang, Nan; Pang, Bo; Zhou, Shasha

doi:10.19026/rjaset.7.217

Cited by 1 publication

(2 citation statements)

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“…The configuration as in Fig. 6 is being propagated in V-REP software by manipulating the equation coded as Equation (6) and (7). For configuration as Fig.…”

Section: Resultsmentioning

confidence: 99%

“…Basically, most of the MSR robots that have been developed are able to propagate snake-like motion, which is minimal possible configuration for modular robot to have locomotion ability. It is known as Serpentinoid curve or Sinusoidal curve which was discovered in 1976 by Hirose for application of biomechanics of snake to robot construction [6] [7], so the robot can propelled forward by sending Sine and Cosine value. Basically, its implementation for the locomotion mechanism for snake-motion propagation can be referred from research study done by Gómez [8].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Experimentation for Modular Robot Simulation by Python Coding to Establish Multiple Configurations

Hasbulah¹,

Jafar²,

Nordin³

et al. 2019

ijacsa

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Most of the Modular Self-reconfigurable (MSR) robots are being developed in order to have the capability of achieving different locomotion gaits. It is an approach of robotic system which involving a group of identical robotic modules that are connecting together and are able to perform specific tasks. In this study, a 3D-printed MSR robot named Dtto-Explorer Modular Robot was used to investigate the achievable propagation that can be made based on three of Dtto robot modules. As Dtto robot is developed based on Modular Transformer (M-TRAN), Dtto robot has the number of Degree of Freedom (DOF) same as M-TRAN which is 2 DOF. Hence, this study is done with the intentions to know the variation of configuration that can be made by multiple module robots which have only 2 DOF. The robot propagation was simulated in Virtual Robot Experimentation Platform (V-REP) software. The result of the simulation shows that the Dtto MSR robot can propagate multiple configurations after all the robot modules being connected to each other by different attachment orientation of the Dtto robot and it is suitable for the purpose of further research on MSR robot architecture.

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“…The configuration as in Fig. 6 is being propagated in V-REP software by manipulating the equation coded as Equation (6) and (7). For configuration as Fig.…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%