Dynamic and experimental analysis for inchwormlike biomimetic robots Ver-Vite

Rincon, Diana M.; Sotelo, Jorge

doi:10.1109/mra.2003.1256298

Cited by 26 publications

(17 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Without position or heading control [73], [74], [19], [33], [21], [115], [30], [116], [117], [118], [67], [34], [119], [49], [120], [70], [71], [76], [121], [122], [61], [123], [82].…”

Section: Flat Surface Locomotion Without Sideslip Constraintsmentioning

confidence: 99%

“…Gaits for sidewinding motion, which is a sideways rolling type of motion, are proposed in [117,118,67,34,119]. Inchworm locomotion gaits are proposed in [49,120,70,71,76,121,118,122]. Lateral rolling, which is achieved by continuously forming the snake body into a vertical U-shape that tips over, is considered in [73,76,61,123,118].…”

Section: Controllers For Flat Surface Locomotion Without Sideslip Conmentioning

confidence: 99%

See 1 more Smart Citation

A review on modelling, implementation, and control of snake robots

Liljebäck

Pettersen

Stavdahl

et al. 2012

Robotics and Autonomous Systems

232

118

View full text Add to dashboard Cite

This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms.

show abstract

“…Without position or heading control [73], [74], [19], [33], [21], [115], [30], [116], [117], [118], [67], [34], [119], [49], [120], [70], [71], [76], [121], [122], [61], [123], [82].…”

Section: Flat Surface Locomotion Without Sideslip Constraintsmentioning

confidence: 99%

Section: Controllers For Flat Surface Locomotion Without Sideslip Conmentioning

confidence: 99%

A review on modelling, implementation, and control of snake robots

Liljebäck

Pettersen

Stavdahl

et al. 2012

Robotics and Autonomous Systems

232

118

View full text Add to dashboard Cite

show abstract

“…The segments were connected by means of cables to produce curvature horizontally or vertically along several segments simultaneously. The inchworm robot Ver-Vite, introduced by Rincon et al in 2003, simulated inchworm locomotion with friction only and the use of variable masses [33]. The locomotion mechanism in Ver-Vite was inspired by the actually locomotion process observed in inchworms, known as peristaltic contraction.…”

Section: Category Iv: Robots Based On Undulation Using Vertical Wavesmentioning

confidence: 99%

A survey of snake-inspired robot designs

2009

View full text Add to dashboard Cite

Body undulation used by snakes and the physical architecture of a snake body may offer significant benefits over typical legged or wheeled locomotion designs in certain types of scenarios. A large number of research groups have developed snake-inspired robots to exploit these benefits. The purpose of this paper is to report different types of snake-inspired robot designs and categorize them based on their main characteristics. For each category, we discuss their relative advantages and disadvantages. This paper will assist in familiarizing a newcomer to the field with the existing designs and their distinguishing features. We hope that by studying existing robots, future designers will be able to create new designs by adopting features from successful robots. The paper also summarizes the design challenges associated with the further advancement of the field and deploying snake-inspired robots in practice.

show abstract

“…While some 22,28 rely on slow speeds to avoid slipping, water can also be pumped between the links to add weight to the parts that are not moving. 74 This way, the ground contact force and hence the friction on the moving parts is reduced.…”

Section: D Snake Robot Locomotionmentioning

confidence: 99%

A survey on snake robot modeling and locomotion

2009

View full text Add to dashboard Cite

SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10-15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

show abstract

Dynamic and experimental analysis for inchwormlike biomimetic robots Ver-Vite

Cited by 26 publications

References 7 publications

A review on modelling, implementation, and control of snake robots

A review on modelling, implementation, and control of snake robots

A survey of snake-inspired robot designs

A survey on snake robot modeling and locomotion

Contact Info

Product

Resources

About