Torque control strategies for snake robots

Rollinson, David; Alwala, Kalyan Vasudev; Zevallos, Nico; Choset, Howie

doi:10.1109/iros.2014.6942694

Cited by 28 publications

(15 citation statements)

References 19 publications

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“…Rollinson et al [12] created a SEA Snake with compliance in the joints. This allows them to do torque control with a linear mapping from joint to torque.…”

Section: Discussionmentioning

confidence: 99%

“…In particular, these arc-shaped gaits (easily extended to helix shapes) result convenient for locomotion on cylindrical surfaces as reported in the literature for horizontal motions [3], [9], [10], as well as in vertical/oblique directions (i.e. climbing a pole [11], [12]). We believe that locomoting with MSR on horizontal cylindrical surfaces is a starting point for extending these rolling gaits to more complex terrains, including pipes of different sizes, tree branches, bushes [13], geological formations, and in general uneven surfaces or cylindrical/conical shapes that can be found in disaster zones.…”

Section: Introductionmentioning

confidence: 98%

“…On the other hand, adding series elastic actuators to the structure of the snake robot [17] allows for more elaborated and reliable torque control strategies [12]. In this last work, the authors directly control actuators' torque based on three different strategies.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Compliant snake robot locomotion on horizontal pipes

Vespignani

Melo

Mutlu

et al. 2015

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better performances than a simple pre-programmed stiff motion without feedback. Several attempts to reproduce such behaviors in snake robots range from compliant shape controllers (acting in joint space) to torque control strategies of elastic actuated joints. In our proposal, we incorporate compliant elements in a modular snake robot structure to passively adapt the robot's shape to the environment. The gait control remains simple by acting directly in the robot's joint space with known gait generation schemes. To validate our results we performed experiments with compliant modular snake robots rolling on pipes with different geometry characteristics such as different diameters, smooth surfaces, surfaces with presence of obstacles (terrain bumps), and considerable changes in diameter in a single robot run. We evaluated the performance across different robot's body-compliance values, measuring the speed of locomotion as well as the power consumption. Our results show that providing a good selection of body compliant elements is a way to maintain high locomotion performance (at least while rolling on pipes) without including additional complex control artifacts to the simple open-loop cyclic gait controller.

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“…Rollinson et al [12] created a SEA Snake with compliance in the joints. This allows them to do torque control with a linear mapping from joint to torque.…”

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

See 1 more Smart Citation

Compliant snake robot locomotion on horizontal pipes

Vespignani

Melo

Mutlu

et al. 2015

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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“…The modules produce a maximum of 7 N-m of torque and a maximum speed of 33 rpm [19]. Additionally, the 1-DoF rotary modules feature a serieselastic element which offers inherent mechanical compliance as well as torque sensing capabilities [22]. The 60A durometer natural rubber torsional spring with tapered cross-section has an approximate spring constant of 12 N-m/rad and a maximum rotational deflection of approximately 0.6 radians [20].…”

Section: Modular Design a Mechanicalmentioning

confidence: 99%

“…By using parallel position and force control, Snake Monster is able to actively and passively conform its footsteps to traverse unmodeled terrain with relative ease and minimal computation. Using the mechanical spring compliance built into each joint, Snake Monster conforms to uneven terrain [22] rather than explicitly planning and optimizing footholds and step locations. In this sense Snake Monster exhibits locomotive traits that are compliant like the extremely versatile RHex robot [13] as well as dexterous like the LittleDog robot [15] [16].…”

Section: Introductionmentioning

confidence: 99%

Modularity for maximum mobility and manipulation: Control of a reconfigurable legged robot with series-elastic actuators

Kalouche

Rollinson

Choset

2015

2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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Abstract-We present a set of modular series-elastic actuators (SEAs) that allow rapid and robust prototyping of mobile legged robots. The SEA modules were originally developed for a snake robot, SEA Snake, and have recently been reconfigured into Snake Monster, a multi-modal walking robot that can be easily adapted to hexapod, quadruped, and biped configurations. The use of SEAs allows the implementation of a compliant hybrid controller using both position and force-based walking. This paper presents the mechanical design, control architecture, and initial locomotion experiments using the Snake Monster platform. Additionally, we discuss the enhanced capabilities, pertaining particularly to search and rescue applications, enabled by the use of our modular hardware. Finally, we highlight how these modules provide a powerful tool for both field deployment requiring locomotion and manipulation tasks.

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A Small Envelope Gait Control Algorithm Based on FTL Method for Snake-Like Pipe Robot

Wang

Zhang

et al. 2019

Intelligent Robotics and Applications

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Torque control strategies for snake robots

Cited by 28 publications

References 19 publications

Compliant snake robot locomotion on horizontal pipes

Compliant snake robot locomotion on horizontal pipes

Modularity for maximum mobility and manipulation: Control of a reconfigurable legged robot with series-elastic actuators

A Small Envelope Gait Control Algorithm Based on FTL Method for Snake-Like Pipe Robot

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