Control of a Snake-like Robot Using the Screw Drive Mechanism

Satomura, Shogo; Hara, M.; Fukushima, Hiroaki; Kamegawa, Tetsushi; Igarashi, H.; Matsuno, Fumitoshi

doi:10.7210/jrsj.25.779

Cited by 10 publications

(7 citation statements)

References 4 publications

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“…Independently from these works, a snake-like robot using screw drive units connected serially has been proposed by the authors [8]. It is expected that this robot does not get stuck easily even if the upper part of the body hit the ceiling, since the upper part of the screw unit drives the body in the same direction as the lower part.…”

Section: Introductionmentioning

confidence: 99%

“…Also, it can move in any direction unlike most existing snake-like robots. In [8], a feedback control system to steer the head position and orientation, while controlling the joints to given reference angles, has been designed based on a kinematic model. However, it is hard for operators to give commands for all joints as well as the head position and orientation, such that the shape of the robot is fit to the narrow space.…”

Section: Introductionmentioning

confidence: 99%

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Path-tracking control of a snake-like robot using screw drive mechanism

Fukushima

Tanaka

Kamegawa

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a path-tracking control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. Although the velocity commands for exact path tracking can be calculated using past command signals due to the omni-directional property of the robot, a simpler control law without using past signals is adopted from the implementation viewpoint. Asymptotic tracking error is investigated based on a Lyapunov approach for the case of a constant curvature. Furthermore, the effectiveness of the proposed method is investigated by computer simulations and laboratory experiments.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Path-tracking control of a snake-like robot using screw drive mechanism

Fukushima

Tanaka

Kamegawa

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…For structural reason, the snake-like robot can only achieve plane motion and cannot be applied to practical. Ryo Ariizumi, Hiroaki Fukushima and Fumitoshi Matsuno [2]- [4] developed a snake-like robot using screw drive mechanism. The robot is comprised of two types of screw drive units, i.e.…”

Section: Introductionmentioning

confidence: 99%

Structural Design and Motion Mechanism of the Rope-Drive Snake-Like Robot

Zhao¹,

Gao²,

Chengzu³

et al. 2012

Proceedings of the 1st International Conference on Mechanical Engineering and Material Science

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Abstract-The characteristics of the snake with a variety of motion patterns and multi-redundancy and multi-degree of freedom make it have powerful motion ability and good environmental adaptability, can pass through obstacles that human can't. These advantages prompt us to study a new-type rope-drive snake-like robot based on the epidermis-drive. The snake-like robot uses modular design, with a remarkable versatility, economy and robustness. In this paper, we mainly design the structure of the rope-drive snake-like robot, and carry out a detail description of the drive mechanism, the drive principle and the yaw and pitch mechanism of the snake-like robot. And then study the motion mechanism of the rope-drive snake-like robot; finally verify the motion ability of the snake-like robot by experiments.

show abstract

“…Independently from these works, a snake-like robot using screw drive units connected serially has been proposed [9]. It is expected that this robot does not get stuck easily even if the upper part of the body hit the ceiling, since the upper part of the screw unit drives the body in the same direction as the lower part.…”

Section: Introductionmentioning

confidence: 99%

Front-unit-following control of a snake-like robot using screw drive mechanism based on past velocity commands

Ariizumi

Fukushima

Matsuno

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a front-unit-following control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. The proposed method estimates the tracking error expressed in the Frenet frame using past velocity commands in order to determine the control inputs. Since the past velocity commands stored at discrete points are used for estimation of the tracking error, we also propose a method to dynamically change the data storage interval for reducing the amount of data stored, without losing the accuracy of estimation. Effectiveness of the proposed method is demonstrated by computer simulations and laboratory experiments.

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Control of a Snake-like Robot Using the Screw Drive Mechanism

Cited by 10 publications

References 4 publications

Path-tracking control of a snake-like robot using screw drive mechanism

Path-tracking control of a snake-like robot using screw drive mechanism

Structural Design and Motion Mechanism of the Rope-Drive Snake-Like Robot

Front-unit-following control of a snake-like robot using screw drive mechanism based on past velocity commands

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