Kaa: an autonomous serpentine robot utilizes behavior control

Desai, R.; Rosenberg, C.J.; Jones, Joseph L.

doi:10.1109/iros.1995.525891

Cited by 22 publications

(6 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fig 8. shows the principle of a very simple type of motion which in [DES95] is called 'travelling wave'. Fig 8. shows the principle of a very simple type of motion which in [DES95] is called 'travelling wave'.…”

Section: Motion Of the Snakementioning

confidence: 99%

Distributed Autonomous Robotic Systems 2

1996

View full text Add to dashboard Cite

This work is subject to copyright. Ali rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use.Typesetting: Camera-ready by editors and authors PrefaceAlthough highly intelligent and robust robotic systems have been required in various fields such as flexible manufacturing processes and maintenance tasks in nuclear plants, sufficient functionalityhas not yet been realized with currently available technologies in spite of the efforts to develop intelligent systems supported by robots. Instead of research oriented to single sophisticated robots, distributed autonomous robotic systems (DARS) recently have attracted the attention of many researchers as a new approach to realize robust and intelligent robotic systems. DARS are systems composed of multiple autonomous units such as modules, cells, processors, agents, and robots. Combination or cooperative operation of multiple autonomous units is expected to lead to desirable features such as flexibility, fault tolerance, and efficiency. The concept of DARS was strongly inspired by biological systems, which have characteristics of autonomous and decentralized systems, self-organizing systems, multi-agent systems, and emergent systems. DARS require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Reflecting the trends of DARS accelerated by rapid progress in computer and network (communication) technologies, the First and Second International Symposium on Distributed Autonomous Robotic Systems (DARS '92 and DARS '94) were held at the Institute of Physical and Chemical Research (RIKEN), Saitama, Japan, in September 1992 and July 1994. The first DARS book, published in December 1994 by Springer-Verlag, Tokyo, included papers presented at DARS '94. On the occasion of the Third International Symposium on DARS (DARS '96), also held at RIKEN in October 1996, the present book is published as the second volume in the DARS series as the proceedings of DARS '96, with selected papers from the symposium. Two papers presented as invited speeches in the symposium, "Trends and Perspective of Researches on Control System Theory" by Prof. Masami Ito (RIKEN, Japan) and "Collective Intelligence in Natural and Artificial Systems" by Prof. Jean-Louis Deneubourg (Universire Libre de Bruxelles, Belgium), are also included in this volume.v VI We proudly recommend this book for its coverage of broad technological aspects (system design, modeling, simulation, and operation) and various technical issues (sensing, pla...

show abstract

Section: Motion Of the Snakementioning

confidence: 99%

Distributed Autonomous Robotic Systems 2

1996

View full text Add to dashboard Cite

show abstract

“…The first method is the same method of grasping as McMahan et al [8], Walker et al [9], and Desai et al [10]; Busch calls this method Zorro. The method contains two competing controllers, one of which attempts to make the end-effector of the robot circle around the object, while the other attempts to keep the body of the robot away from the object.…”

Section: Introductionmentioning

confidence: 99%

Biologically Inspired Perimeter Detection for Whole-Arm Grasping

et al. 2013

View full text Add to dashboard Cite

Grasping is a useful ability that allows manipulators to constrain objects to a desired location or trajectory. Whole-arm grasping is a specific method of grasping an object that uses the entire surface of the manipulator to apply contact forces. Elephant trunks and snakes and octopus arms are illustrative of these methods. One of the greatest challenges of whole-arm grasping in poorly defined environments is accurately identifying the perimeter of an object. Existing algorithms for this task use restrictive assumptions or place unrealistic demands on the required hardware. Here, a new algorithm (termed Octograsp) has been developed as a method of gaining information on the shape of the grasped object through tactile information alone. The contact information is processed using an inverse convex hull algorithm to build a model of the object's shape and position. The performance of the algorithm is examined using both simulated and experimental hardware. Methods of increasing the level of contact information through repeated contact attempts are presented. It is demonstrated that experimentally obtained, coarsely spaced, contact information can result in an accurate model of an object's shape and position.

show abstract

“…The segments are connected by motors and the angles between adjacent segments controlled to enable locomotion by propagating a traveling wave along the body of the robot (Hirose et al 1993;Crespi et al 2005;Ijspeert et al 2007). Most of these serpentine robots have been tested on rigid surfaces (Hirose and Morishima 1990;Shan and Koren 1993;Desai et al 1995;Klaassen and Paap 1999) while only a few have been developed for and tested in unstructured environments (Hirose et al 1993;Chirikjian and Burdick 1995;Dowling 1999;Choset et al 2000;Crespi et al 2005).…”

Section: Introductionmentioning

confidence: 99%

Undulatory swimming in sand: experimental and simulation studies of a robotic sandfish

Maladen

Ding

Umbanhowar

et al. 2011

The International Journal of Robotics Research

View full text Add to dashboard Cite

A previous study of a sand-swimming lizard, the sandfish, revealed that it swims within granular media at speeds up to 0.4 body-lengths/cycle using body undulations (approximately a single period sinusoidal traveling wave) without limb use. Inspired by the organism, we develop a numerical model of a robot swimming in a simulated granular medium to guide the design of a physical device. Both in simulation and experiment the robot swims limblessly subsurface at speeds up to 0.3 body-lengths/cycle and, like the animal, increases its speed by increasing its oscillation frequency. The performance of the robot measured in terms of its wave efficiency η, the ratio of its forward speed to wave speed, is 0.34 ± 0.02, within 8% of the simulation prediction. Both in simulation and experiment, η increases with increasing particle-particle friction but decreases with increasing body-particle friction. On a flat, rigid surface the robot fails to move forward, as expected, due to the frictional isotropy between the interacting surfaces. However, the surface and subsurface performance of the robot on low friction particles are comparable. Our work provides a validated simulation tool and the design of a robot that can move on or within yielding terrestrial substrates.

show abstract

Kaa: an autonomous serpentine robot utilizes behavior control

Cited by 22 publications

References 11 publications

Distributed Autonomous Robotic Systems 2

Distributed Autonomous Robotic Systems 2

Biologically Inspired Perimeter Detection for Whole-Arm Grasping

Undulatory swimming in sand: experimental and simulation studies of a robotic sandfish

Contact Info

Product

Resources

About