The kinematics of hyper-redundant robot locomotion

Abstract

Abstract-This paper considers the kinematics of hyperredundant (or "serpentine") robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of "gaits." The analysis and algorithms are based on a continuous backbone curve model which captures the robot's macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are introduced for hyper-redundant robots of both constant and variable length. We also illustrate how the locomotion algorithms can be used to plan the manipulation of objects which are grasped in a tentacle-like manner. Several of these gaits and the manipulation algorithm have been implemented on a 30 degree-of-freedom hyper-redundant robot. Experimental results are presented to demonstrate and validate these concepts and our modeling assumptions.

Biomechanical analysis of Oligochaeta crawling

“…This shape is calculated as equilibrium state by using finite element methods and optimization techniques. Chirikjian and Burdick (1995) considered the kinematics of hyper-redundant robot locomotion over uneven solid terrain, and presented algorithms to implement a variety of gaits similar to those of inchworms, earthworms, snakes and slugs. Many of these forms of undulatory biological locomotion can be idealized as travelling or stationary waves of body ARTICLE IN PRESS *Corresponding author.…”

Design and modelling of a snake robot in traveling wave locomotion

“…However, the traveling wave locomotion is always characterized as a low efficient gaits [4] because till to now its dynamics is somewhat obscure [10,11] and only based on kinematic analysis no effective controlling methods can be conducted. In this paper starting with the dynamic model, simulation and finishing with experiment, a systematic complete description of traveling wave locomotion is conducted for a good comprehension and higher efficiently controlling this gait.…”

Robotics: Science and Systems VI

“…Previous terrestrial limbless robots utilized serpentine locomotion to move on the surface of media. Of these, most were tested on rigid surfaces [18,19,20,21,22] with only a few developed for and tested in unstructured environments [23,24,25].…”