Ground adaptive and optimized locomotion of snake robot moving with a novel gait

Hasanzadeh, Shahir; Tootoonchi, A.A.

doi:10.1007/s10514-010-9179-y

Cited by 37 publications

(17 citation statements)

References 21 publications

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“…However, the energy efficiency is not taken into account. In [25], a genetic algorithm is adopted to select parameters of serpentine gait parameters for a snake robot, but other performances are not considered except the speed of the robot. In [26], forward speeds of amphibious snake-like robots are optimized by the Powell's method.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Path Following and Locomotion Optimization of Snake‐Like Robot Controlled by the Central Pattern Generator

Cao

Zhang

et al. 2019

Complexity

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This work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot forward and along a desired path. The efficiency and accuracy of the proposed path following method is researched. In addition, a control framework that includes a CPG network, a locomotion efficiency optimization algorithm, and an adaptive path following method is designed to control snake-like robots move in different environments. Simulation and experimental results are presented to illustrate the performance of the proposed locomotion optimization method and adaptive path following controller for snake-like robots in complexity terrains.

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Section: Introductionmentioning

confidence: 99%

Adaptive Path Following and Locomotion Optimization of Snake‐Like Robot Controlled by the Central Pattern Generator

Cao

Zhang

et al. 2019

Complexity

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“…However, the energy efficiency is not considered in the optimization framework. In [11], the genetic algorithm (GA) is used to find forward head serpentine gait parameters for a land-based snake robot. However, only the speed of the robot is considered in the optimization in order to find the optimal gait parameters of the head link.…”

Section: Introductionmentioning

confidence: 99%

Locomotion Efficiency Optimization of Biologically Inspired Snake Robots

Kelasidi

Jesmani²,

Pettersen

et al. 2018

Applied Sciences

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Snake robots constitute bio-inspired solutions that have been studied due to their ability to move in challenging environments where other types of robots, such as wheeled or legged robots, usually fail. In this paper, we consider both land-based and swimming snake robots. One of the principal concerns of the bio-inspired snake robots is to increase the motion efficiency in terms of the forward speed by improving the locomotion methods. Furthermore, energy efficiency becomes a crucial challenge for this type of robots due to the importance of long-term autonomy of these systems. In this paper, we take into account both the minimization of the power consumption and the maximization of the achieved forward velocity in order to investigate the optimal gait parameters for bio-inspired snake robots using lateral undulation and eel-like motion patterns. We furthermore consider possible negative work effects in the calculation of average power consumption of underwater snake robots. To solve the multi-objective optimization problem, we propose transforming the two objective functions into a single one using a weighted-sum method. For different set of weight factors, Particle Swarm Optimization is applied and a set of optimal points is consequently obtained. Pareto fronts or trade-off curves are illustrated for both land-based and swimming snake robots with different numbers of links. Pareto fronts represent trade-offs between the objective functions. For example, how increasing the forward velocity results in increasing power consumption. Therefore, these curves are a very useful tool for the control and design of snake robots. The trade-off curve thus constitutes a very useful tool for both the control and design of bio-inspired snake robots. In particular, the operators or designers of bio-inspired snake robots can choose a Pareto optimal point based on the trade-off curve, given the preferred number of links on the robot. The optimal gait parameters for the robot control system design are then directly given both for land-based and underwater snake robots. Moreover, we are able to obtain some observations about the optimal values of the gait parameters, which provide very important insights for future control design of bio-inspired snake robots.

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“…For example, a new gait called forward head serpentine (FSH) was introduced in [16] while optimization of the FSH was presented in [17]. The FSH ensures that the head of snake robot always remains in the general direction of motion for easier sensing of obstacles in the environment and significantly enhances the easiness of the information processing.…”

Section: Introductionmentioning

confidence: 99%

Development of Wheel-less Snake Robot with Two Distinct Gaits and Gait Transition Capability

Majid

Khan

Sidek

2013

Int. J. Autom. Comput.

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Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted and narrow space environments, respectively, but for straight line locomotion only. A gait transition algorithm is developed to efficiently change the gait from one to another. This study includes the investigation on kinematics analysis followed by dynamics analysis while considering related structural constraints for both gaits. The approach utilizes the speed of the serpentine gait for open area locomotion and exploits the narrow space access capability of the wriggler gait. Hence, it can increase motion flexibility in view of the fact that the robot is able to change its mode of locomotion according to the working environment.

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Ground adaptive and optimized locomotion of snake robot moving with a novel gait

Cited by 37 publications

References 21 publications

Adaptive Path Following and Locomotion Optimization of Snake‐Like Robot Controlled by the Central Pattern Generator

Adaptive Path Following and Locomotion Optimization of Snake‐Like Robot Controlled by the Central Pattern Generator

Locomotion Efficiency Optimization of Biologically Inspired Snake Robots

Development of Wheel-less Snake Robot with Two Distinct Gaits and Gait Transition Capability

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