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
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
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