Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot

Haghshenas-Jaryani, Mahdi

doi:10.3390/act11070194

Cited by 6 publications

(5 citation statements)

References 56 publications

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“…In this work, a series of studies on optimal locomotion and energy efficiency evaluation of the muscle-driven snake robot developed in our previous works [55][56][57] were carried out. Towards this goal, a kinematic-based design optimization was obtained for the snake robot to achieve an optimal range of joint motion.…”

Section: Discussionmentioning

confidence: 99%

“…PAMs were integrated into each side of the connecting links of a snake-robot's linkage, which combines the advantages of both rigid and soft robotic approaches to enhance the performance of snake robots in terms of energy consumption efficiency. In another work [57], we theoretically studied the dynamics and muscle force-based control of the snake robot for tracking different desired trajectories in Cartesian space. The outcomes showed the effectiveness of the controller and the muscle-driven limbless mechanism in trajectory tracking tasks with an acceptable level of errors while considering the upper and lower limits of the actual artificial muscles force and length contraction magnitudes.…”

Section: Introductionmentioning

confidence: 99%

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A Study of Energy-Efficient and Optimal Locomotion in a Pneumatic Artificial Muscle-Driven Snake Robot

López

Haghshenas-Jaryani

2023

Robotics

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This paper presents a study of energy efficiency and kinematic-based optimal design locomotion of a pneumatic artificial muscle (PAM)-driven snake-like robot. Although snake-like robots have several advantages over wheeled and track-wheeled mobile robots, their low energy-locomotion has limited their applications in long-range and outdoor fields. This work continues our previous efforts in designing and prototyping a muscle-driven snake-like robot to address their low energy efficiency limitation. An electro-pneumatic control hardware was developed to control the robot’s locomotion and a control algorithm for generating the lateral undulation gait. The energy efficiency of a single muscle (i.e., PAM), a single 2-link module of the robot, and a 6-link snake robot were also studied. Moreover, the power consumption was derived for the snake locomotion to determine the cost of transportation as the index for measuring the performance of the robot. Finally, the performance of the robot was analyzed and compared to similar models. Our analysis showed that the power consumption efficiency for our robot is 0.21, which is comparable to the reported range of 0.016–0.32 from other robots. In addition, the cost of transportation for our robot was determined to be 0.19 compared to the range of 0.01–0.75 reported for the other mobile robots. Finally, the range of motion for the joints of the robot is ±30∘, which is comparable to the reported range of motion of other snake-like robots, i.e., 25∘–45∘.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Study of Energy-Efficient and Optimal Locomotion in a Pneumatic Artificial Muscle-Driven Snake Robot

López

Haghshenas-Jaryani

2023

Robotics

Self Cite

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“…In order to control the end position of the robot, it is necessary to convert the joint space dynamics equation into Cartesian space dynamics equation through the Jacobian matrix [19]. Based on the virtual work principle:…”

Section: Dynamics Model Of Long-arm Heavy-duty Robotmentioning

confidence: 99%

Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms

Qin

Xiao

et al. 2023

Mathematics

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This study aims to resolve the problems of low precision, poor flexibility and unstable operation in the control performance of loading robots with long telescopic booms and heavy loads. Firstly, the kinematics and dynamics of long-arm heavy-duty robots are analyzed, and the dynamics model of a long-arm heavy-duty robot is established using the Lagrange method. A new power-hybrid sliding-mode approach law is proposed, and a hybrid force/position control strategy is used to control long-arm heavy-duty robots. The position control of long-arm heavy-duty robots uses a new sliding-mode adaptive control to improve the position accuracy of important joints, and PD control is used to force control the other joints. The two-stage telescopic arm is flexible and the long-arm heavy-load robot is simulated. The simulation results show that the long-arm heavy-load robot obtained using the improved sliding-mode adaptive control algorithm has good track-tracking and jitter-suppression effects. The new power-hybrid sliding-mode controller designed in this paper reduces the jitter amplitude of the end-effector of long-arm heavy-duty robots by 28.75%, 10.92% and 16.22%, respectively, compared with the existing new approach law sliding-mode controller. The simulation results show that the proposed power-hybrid reaching law sliding-mode controller can effectively reduce the amplitude difference of the end-effector. Finally, the force/position control strategy is combined with force-based impedance control, and the design process of impedance controller parameters is introduced, which provides a reference for the trajectory-tracking and vibration-suppression of end-effectors of long-arm heavy-duty robots.

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“…A six-legged insect-like robot, Airbug was developed by Berns et al [125] using fluidic muscles in the antagonistic arrangement. Jaryani [126] presented a dynamic formulation of a series of antagonistic artificial-muscle-driven devices for generating locomotion and computed muscle-force control for the planar locomotion of a snake robot. Daerden et al [127] designed a hopping robot composed of a lower and upper leg, hip, and a body that slides along a guide shaft with pleated PAMs for the knee joint movement.…”

Section: Biorobotic Applicationsmentioning

confidence: 99%

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

2022

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Pneumatic artificial muscles (PAMs) are soft and flexible linear pneumatic actuators which produce human muscle like actuation. Due to these properties, the muscle actuators have an adaptable compliance for various robotic platforms as well as medical applications. While a variety of possible actuation schemes are present, there is still a need for the development of a soft actuator that is very light-weight, compact, and flexible with high power-to-weight ratio. To achieve this, the development of the PAM actuators has become an interesting topic for many researchers. In this review, the development of the different kinds of PAM available to date are presented along with manufacturing process and the operating principle. The various force models for artificial muscle presented in the literature are broadly reviewed with the constraints. Furthermore, the applications of PAM are included and classified based on the fields of biorobotics, medicine, and industry, along with advanced medical instrumentation. Finally, the needful improvements in terms of the dynamics of the muscle are discussed for the precise control of the PAMs as per the requirements for the applications. This review will be helpful for researchers working in the field of robotics and for designers to develop new type of artificial muscle depending on the applications.

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Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot

Cited by 6 publications

References 56 publications

A Study of Energy-Efficient and Optimal Locomotion in a Pneumatic Artificial Muscle-Driven Snake Robot

A Study of Energy-Efficient and Optimal Locomotion in a Pneumatic Artificial Muscle-Driven Snake Robot

Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms

A Review on the Development of Pneumatic Artificial Muscle Actuators: Force Model and Application

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