Design and implementation of Omni-directional spherical modular snake robot (OSMOS)

Singh, Akash; Paigwar, Anshul; Manchukanti, Sai Teja; Saroya, Manish; Maurya, Manish Kumar; Chiddarwar, Shital S.

doi:10.1109/icmech.2017.7921084

Cited by 8 publications

(5 citation statements)

References 16 publications

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“…MorpHex, in Figure 4a [118], is a reconfigurable hybrid robot that can move either by rolling or as a hexapod. A reconfigurable snake/biped robot is shown in Figure 4b [119], while the robot in [120] combines omni-directional wheels and slithering.…”

Section: Terrestrial Hybrid Robotsmentioning

confidence: 99%

A Survey on Mechanical Solutions for Hybrid Mobile Robots

Russo

Ceccarelli

2020

Robotics

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This paper presents a survey on mobile robots as systems that can move in different environments with walking, flying and swimming up to solutions that combine those capabilities. The peculiarities of these mobile robots are analyzed with significant examples as references and a specific case study is presented as from the direct experiences of the authors for the robotic platform HeritageBot, in applications within the frame of Cultural Heritage. The hybrid design of mobile robots is explained as integration of different technologies to achieve robotic systems with full mobility.

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Section: Terrestrial Hybrid Robotsmentioning

confidence: 99%

A Survey on Mechanical Solutions for Hybrid Mobile Robots

Russo

Ceccarelli

2020

Robotics

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“…The plus/minus signs in (20) correspond to the reverse and forward rotation of the wheels, but are not distinguished structurally in SWOM. Then, we choose or that satisfies .…”

Section: Change Of Movement Direction In Unlimited Translationmentioning

confidence: 99%

“…As an alternative, the orthogonal wheel, which has two spherical-segment wheels, has been proposed [10]- [14], but the complicated structure and the discontinuous contact point remain. Spherical wheels can be used for omnidirectional mobile robots [15]- [20], but then size becomes a problem. Spherical wheels tend to be larger than other types of wheels, but downsizing the wheels makes it difficult for the robot to surmount high bumps.…”

Section: Introductionmentioning

confidence: 99%

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

Terakawa

Komori

Matsuda

et al. 2018

IEEE/ASME Trans. Mechatron.

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Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile robots such as AGVs due to their complicated wheel mechanisms. This research proposes a novel omnidirectional mobile robot named SWOM (slidable-wheeled omnidirectional mobile robot), which has three wheels that connect to the robot body by three passive sliding joints. The relative movements of the sliding joints allow SWOM to use conventional wheels. Thus, SWOM realizes both omnidirectional mobility and structural reliability. In this paper, we discuss the kinematic conditions for omnidirectional mobile robots and prove theoretically that SWOM can achieve omnidirectional movement. We present a kinematic analysis, a reachable region evaluation considering the limited movable range of the sliding joints, and trajectory generation that enables SWOM to move unlimitedly. We develop a prototype of SWOM and conduct experiments that show SWOM actually moves according to the theory. From the above, we verify the effectiveness of SWOM as an omnidirectional mobile robot.

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“…Snake robots, due to their hyper redundancy and narrow cross-section of their body, are versatile and can navigate within limited space, rough terrains, move underwater [1], traverse through pipes, slopes, and uneven ground [2], [3], [4]. Snake robots can be deployed for various practical applications like locating hazardous chemical leaks, search and rescue operations [5], reconnaissance; they can function as self-propelled inspection devices [6], [7], [8].…”

Section: Introductionmentioning

confidence: 99%

ReQuBiS -- Reconfigurable Quadrupedal-Bipedal Snake Robots

Zade¹,

Varude²,

Pandya³

et al. 2021

Preprint

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The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited for structured environments such as stairs. Finally, quadruped robots are more stable than bipeds and can carry larger payloads than snakes and bipeds but struggle to navigate soft soil, sand, ice, and constrained environments. A reconfigurable robot can achieve the best of all worlds. Unfortunately, state-of-the-art reconfigurable robots rely on the rearrangement of modules through complicated mechanisms to dissemble and assemble at different places, increasing the size, weight, and power (SWaP) requirements. We propose Reconfigurable Quadrupedal-Bipedal Snake Robots (ReQuBiS), which can transform between mobility modes without rearranging modules. Hence, requiring just a single modification mechanism. Furthermore, our design allows the robot to split into two agents to perform tasks in parallel for biped and snake mobility. Experimental results demonstrate these mobility capabilities in snake, quadruped, and biped modes and transitions between them.

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Design and implementation of Omni-directional spherical modular snake robot (OSMOS)

Cited by 8 publications

References 16 publications

A Survey on Mechanical Solutions for Hybrid Mobile Robots

A Survey on Mechanical Solutions for Hybrid Mobile Robots

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

ReQuBiS -- Reconfigurable Quadrupedal-Bipedal Snake Robots

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