SnakeSIM: a ROS-based control and simulation framework for perception-driven obstacle-aided locomotion of snake robots
Sign Up to like & getrecommendations! Published in 2018 at "Artificial Life and Robotics"
DOI: 10.1007/s10015-018-0458-6
Abstract: Biological snakes are capable of exploiting roughness in the terrain for locomotion. This feature allows them to adapt to different types of environments. Snake robots that can mimic this behaviour could be fitted with sensors… read more here.
Keywords: snake robot; locomotion; environment; perception ... See more keywords
Analytical modeling of a 3-D snake robot based on sidewinding locomotion
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Dynamics and Control"
DOI: 10.1007/s40435-018-0441-z
Abstract: In this paper, we restrict our attention to sidewinding locomotion and present detailed kinematics and dynamics of a 3-D multi-link snake robot. To obtain kinematics of three-dimensional snake-like robot modeling, first, a virtual structure with… read more here.
Keywords: sidewinding locomotion; snake robot; robot; kinematics ... See more keywords
Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.2648
Abstract: Abstract A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as possible or traveling with minimal… read more here.
Keywords: snake robot; optimization; gait; modular snake ... See more keywords
Motion planning of a snake robot that moves in crowded pipes
Sign Up to like & getrecommendations! Published in 2022 at "Advanced Robotics"
DOI: 10.1080/01691864.2022.2095225
Abstract: ABSTRACT We propose two motions for a snake robot to move through crowded pipes. One motion is an S-shaped twisting motion performed by the snake robot as it moves around crowded pipes in parallel to… read more here.
Keywords: twisting motion; motion; snake robot; crowded pipes ... See more keywords
Path tracking control of a snake robot with a passive joint
Sign Up to like & getrecommendations! Published in 2023 at "Advanced Robotics"
DOI: 10.1080/01691864.2022.2163186
Abstract: The highly redundant nature of a snake robot will enable the robot to complete its task even with a passive joint caused by an actuator failure. However, existing control methods cannot be applied to a… read more here.
Keywords: control snake; control; path tracking; snake robot ... See more keywords
A Survey on Snake Robot Locomotion
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DOI: 10.1109/access.2022.3215162
Abstract: Snake robots have been a topic of discussion among researchers for decades. They are potentially strong enough to bring substantial contributions to the fields which are unsafe/ narrow/ dirty/ hard reachable to human operators, such… read more here.
Keywords: locomotion; robot locomotion; survey snake; snake robot ... See more keywords
A Study on the Design of Error-Based Adaptive Robust RBF Neural Network Back-Stepping Controller for 2-DOF Snake Robot’s Head
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Access"
DOI: 10.1109/access.2023.3249346
Abstract: In this paper, we will propose the controller of a 2-DOF head in a snake robot for effective image data reading when the snake robot is driving, and present an error-based adaptive robust radial base… read more here.
Keywords: neural network; network; adaptive robust; controller ... See more keywords
Sliding Mode Control of Planar Snake Robot With Uncertainty Using Virtual Holonomic Constraints
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2017.2657892
Abstract: In this paper, we present a sliding mode control (SMC) based approach to address the velocity tracking and head-angle control problem of a planar snake robot. The motion characteristics of a snake exhibit the generation… read more here.
Keywords: planar snake; sliding mode; snake robot; control ... See more keywords
Stiffness Design of a Resonance-Based Planar Snake Robot With Parallel Elastic Actuators
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2797261
Abstract: This letter proposes an $N$-link snake robot with parallel elastic actuators (PEA) and a stiffness property that reduces the energy consumption during fast movement. Each PEA couples the actuator output to a spring element, enhancing… read more here.
Keywords: snake robot; parallel elastic; robot; robot parallel ... See more keywords
A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3061372
Abstract: Reinforcement Learning (RL) usually needs thousands of episodes, leading its applications on physical robots expensive and challenging. Little research has been reported about snake robot control using RL due to additional difficulty of high redundancy… read more here.
Keywords: reinforcement learning; snake robot; learning method; robot control ... See more keywords
Extension and Experimental Demonstration of Gait Transition Network for a Snake Robot
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3226066
Abstract: The gait-based control allows the snake robot to move through different environments. The flexible gait transition motion will effectively improve its application in complex environments. To improve the flexibility of gait-based control, this letter proposes… read more here.
Keywords: crawler; gait transition; snake robot; transition ... See more keywords