Search-based configuration planning and motion control algorithms for a snake-like robot performing load-intensive operations
Sign Up to like & getrecommendations! Published in 2021 at "Autonomous Robots"
DOI: 10.1007/s10514-021-10017-6
Abstract: Snake-like robots can enable workers to avoid difficult-to-reach, dangerous, and hazardous environments while enhancing their capabilities. The technologies developed for a snake-like robot can be transferred to applications such as robotic exploration, minimally invasive surgical… read more here.
Keywords: like robot; search based; snake like; load intensive ... See more keywords
A cable-based synergy drive approach for variable curvature snake-like robots
Sign Up to like & getrecommendations! Published in 2025 at "Robotica"
DOI: 10.1017/s0263574725102452
Abstract: Abstract Cable-driven snake-like robots have been widely applied in various fields. However, some of these robots may have poor operational precision and payload capacity. Moreover, an excessive number of motors would increase the complexity of… read more here.
Keywords: cable; synergy drive; snake like; like robots ... See more keywords
Energy-Efficient Gait Optimization of Snake-Like Modular Robots by Using Multiobjective Reinforcement Learning and a Fuzzy Inference System
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3195928
Abstract: Snake-like modular robots (MRs) are highly flexible, but, to traverse a challenging terrain or explore a region of interest, MR needs to attain efficient locomotion depending on a tradeoff between objectives like forward velocity and… read more here.
Keywords: inference system; fuzzy inference; reinforcement learning; snake like ... See more keywords
Environmental adaptive control of a snake-like robot with variable stiffness actuators
Sign Up to like & getrecommendations! Published in 2020 at "IEEE/CAA Journal of Automatica Sinica"
DOI: 10.1109/jas.2020.1003144
Abstract: This work investigates adaptive stiffness control and motion optimization of a snake-like robot with variable stiffness actuators. The robot can vary its stiffness by controlling magneto-rheological fluid ( MRF ) around actuators. In order to… read more here.
Keywords: control; stiffness; snake like; variable stiffness ... See more keywords
Design and Fabrication of a 3-D Printed Metallic Flexible Joint for Snake-Like Surgical Robot
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2896475
Abstract: Snake-like robots have numerous applications in minimally invasive surgery. One important research topic of snake-like robots is the flexible joint mechanism and its actuation. This letter describes the design and fabrication of a new type… read more here.
Keywords: surgical robot; flexible joint; like surgical; design fabrication ... See more keywords
End-to-End Design of Bespoke, Dexterous Snake-Like Surgical Robots: A Case Study With the RAVEN II
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3164841
Abstract: Keyhole surgery requires highly dexterous snake-like robotic arms capable of bending around anatomical obstacles to access clinical targets that diverge from the direct port-of-access. Design optimization for these robots under patient-specific anatomical constraints is still… read more here.
Keywords: dexterity; end end; dexterous snake; snake like ... See more keywords
EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration
Sign Up to like & getrecommendations! Published in 2024 at "Science Robotics"
DOI: 10.1126/scirobotics.adh8332
Abstract: Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected… read more here.
Keywords: robot; like robot; exobiology; snake like ... See more keywords
Two types of snake-like robots for complex environment exploration: Design, development, and experiment
Sign Up to like & getrecommendations! Published in 2017 at "Advances in Mechanical Engineering"
DOI: 10.1177/1687814017721854
Abstract: A snake-like robot has flexible mobility and high stability with low center of mass. It is very useful for complex environment exploration. This article develops two types of snake-like robots with different structure, shape, and… read more here.
Keywords: like robots; environment exploration; complex environment; snake like ... See more keywords
Gait planning of a scale-driven snake-like robot for winding and obstacle crossing
Sign Up to like & getrecommendations! Published in 2017 at "Advances in Mechanical Engineering"
DOI: 10.1177/1687814017731038
Abstract: Gait planning is an effective approach aiming at the difficulty in locomotion control of a multi-degree-of-freedom snake-like robot. In this article, a gait-generating method is presented with regard to the issue of its locomotion control… read more here.
Keywords: like robot; gait planning; snake like; obstacle ... See more keywords
Triple-layered central pattern generator-based controller for 3D locomotion control of snake-like robots
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881417738101
Abstract: Due to the great adaptability, snake-like robots can serve as special intelligent service robots. In this article, a novel triple-layered central pattern generator (CPG)-based controller is proposed to control the 3D locomotion of snake-like robots.… read more here.
Keywords: like robots; triple layered; control; locomotion ... See more keywords
Continual Learning for Addressing Optimization Problems with a Snake-Like Robot Controlled by a Self-Organizing Model
Sign Up to like & getrecommendations! Published in 2020 at "Applied Sciences"
DOI: 10.3390/app10144848
Abstract: We have entered a new era, “Industry 4.0”, that sees the overall industry marching toward an epoch of man–machine symbiosis and intelligent production. The developers of so-called “intelligent” systems must attempt to seriously take into… read more here.
Keywords: like robot; system; snake like; model ... See more keywords