Arboreal concertina locomotion of snake robots on cylinders

Tang, Chaoquan; Shu, Xin; Meng, Deyuan; Zhou, Gongbo

doi:10.1177/1729881417748440

Cited by 6 publications

(2 citation statements)

References 19 publications

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“…An analysis of a snake robot moving by rectilinear motion in a pipe is presented in [16]. A novel gait based on cylinders as well as arboreal concertina locomotion for a snake robot was proposed in [17]. The authors also introduced a kinematic and dynamic analysis of gait, and the developed approach was verified by simulations in V-REP.…”

Section: Review Of Snake Robot Applications In a Pipementioning

confidence: 99%

Investigation of Snake Robot Locomotion Possibilities in a Pipe

et al. 2020

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This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

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Section: Review Of Snake Robot Applications In a Pipementioning

confidence: 99%

Investigation of Snake Robot Locomotion Possibilities in a Pipe

et al. 2020

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“…In addition, the S-shaped form of movement requires the body to be wrapped around only one side of the pipe, providing space for the bifurcation. Tang and Shu et al [18,19] proposed Planar-cylindrical gaits transformation mechanism and used this method to implement climbing gaits based on the S-shaped form. However, they did not conduct detailed studies or experimental verifications of the obstacle avoidance capability for the gait, and the planning processes in the plane were too tedious to facilitate adjustments of the gait during use.…”

Section: Introductionmentioning

confidence: 99%

S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe

Lu,

Tang,

et al. 2024

Bioinspir. Biomim.

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In this work, we focus on overcoming the challenge of a snake robot climbing on the outside of a bifurcated pipe. Inspired by the climbing postures of biological snakes, we propose an S-shaped rolling gait designed using curve transformations. For this gait, the snake robot’s body presenting an S-shaped curve is wrapped mainly around one side of the pipe, which leaves space for the fork of the pipe. To overcome the difficulty in constructing and clarifying the S-shaped curve, we present a method for establishing the transformation between a plane curve and a 3D curve on a cylindrical surface. Therefore, we can intuitively design the curve in 3D space, while analytically calculating the geometric properties of the curve in simple planar coordinate systems. The effectiveness of the proposed gait is verified by actual experiments. In successful configuration scenarios, the snake robot could stably climb on the pipe and efficiently cross or climb to the bifurcation while maintaining its target shape.

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