Collaborative obstacle avoidance algorithm of multiple bionic snake robots in fluid based on IB-LBM.
Sign Up to like & getrecommendations! Published in 2021 at "ISA transactions"
DOI: 10.1016/j.isatra.2021.04.048
Abstract: This paper presents a collaborative obstacle avoidance algorithm of multiple bionic snake robots in fluid based on IB-LBM. The method can make the multiple bionic snake robots avoid different obstacles in the fluid under the… read more here.
Keywords: bionic snake; multiple bionic; snake robots; obstacle avoidance ... See more keywords
A Maneuverable Winding Gait for Snake Robots Based on a Delay-Aware Swing and Grasp Framework Combining Rules and Learning Methods
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3506274
Abstract: Due to the high redundant degree of freedom characteristics of snake robots, their joint lever arms tend to be very long and often result in torque saturation, especially in the case of inter-tree motion. Traditional… read more here.
Keywords: delay aware; aware swing; snake robots; grasp framework ... See more keywords
Integral Line of Sight Guidance Scheme-Based Tracking Method for Snake Robots
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2023.3327958
Abstract: This study investigates the trajectory tracking strategy of a snake robot with sideslip disturbance and unknown model parameters. To guide the robot to track the ideal trajectory faster and more accurately, an adaptive anti-sideslip strategy… read more here.
Keywords: sideslip; control; line sight; strategy ... See more keywords
Arboreal concertina locomotion of snake robots on cylinders
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881417748440
Abstract: This article proposes a novel gait on cylinders for a snake robot as well as arboreal concertina locomotion gait, including the generation method. The gait on the cylinder of a snake robot is a kind… read more here.
Keywords: concertina locomotion; arboreal concertina; snake robots; gait ... See more keywords
Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †
Sign Up to like & getrecommendations! Published in 2017 at "Applied Sciences"
DOI: 10.3390/app7040336
Abstract: In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that… read more here.
Keywords: locomotion; snake robots; perception driven; obstacle aided ... See more keywords
Design and Experimental Validation of a Multimodal Snake Robot with Elliptical Wheels
Sign Up to like & getrecommendations! Published in 2025 at "Biomimetics"
DOI: 10.3390/biomimetics10080532
Abstract: Snake robots are characterized by their flexibility and environmental adaptability, achieved through various optimized gaits. However, their forward propulsion still requires improvement. This challenge can be addressed by integrating wheels or legs, but these mechanisms… read more here.
Keywords: experimental validation; design experimental; multimodal snake; snake robots ... See more keywords
Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting
Sign Up to like & getrecommendations! Published in 2023 at "Biomimetics"
DOI: 10.3390/biomimetics8010105
Abstract: Gait generation method is one of the important contents of snake robot motion control. Different gait generation methods produce completely different forms of control functions, so snake robots need more complicated programming logic and processes… read more here.
Keywords: snake robots; control; gait generation; snake robot ... See more keywords