Locomotive analysis of a single-input three-link snake robot

Dear, Tony; Kelly, Scott David; Travers, Matthew; Choset, Howie

doi:10.1109/cdc.2016.7799434

Cited by 11 publications

(12 citation statements)

References 11 publications

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“…They [15][16][17][18][19][20][21][22] have led the same results based on the analysis by Prautsch et al [13,14]. In addition, Dear et al [23,24] and Guo et al [25] have reported the snake-like robot is the singular configuration when all relative angles are equivalent. It indicates the posture under this situation is either straight line or arc shape.…”

Section: Introductionmentioning

confidence: 73%

“…While these studies [13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28] have addressed the either fully non side-slipping or fully side-slipping model, Tanaka et al have addressed a model including both side-slipping and non side-slipping links [30]. They have referred that either the straight line or the arc shape are still the singular configuration with respect to the fully non side-slipping model based on Prautsch's analysis [14].…”

Section: Introductionmentioning

confidence: 99%

“…These researches [13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29][30] have a common assumption that the robot has either the passive wheel or the center of gravity located at the center of each link. This common assumption means link length and/or position of the passive wheel are defined as common variable.…”

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confidence: 99%

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Generalized Singularity Analysis of Snake-Like Robot

2018

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The purpose of this paper is to elucidate a generalized singularity analysis of a snake-like robot. The generalized analysis is denoted as analysis of singularity of a model which defines all designable parameters such as the link length and/or the position of the passive wheel as arbitrary variables. The denotation is a key point for a novelty of this study. This paper addresses the above new model denotation, while previous studies have defined the designable parameters as unique one. This difference makes the singularity analysis difficult substantively. To overcome this issue, an analysis method using redundancy of the snake-like robot is proposed. The proposed method contributes to simplify singularity analysis concerned with the designable parameters. The singular configurations of both the model including side-slipping and the one with non side-slipping are analyzed. As the results of the analysis, we show two contributions. The first contribution is that a singular configuration depends on designable parameters such as link length as well as state values such as relative angles. The second contribution is that the singular configuration is characterized by the axials of the passive wheels of all non side-slipping link. This paper proves that the singular configuration is identified as following two conditions even if the designable parameters are chosen as different variables and the model includes side-slipping link. One is that the axials of passive wheels of all non side-slipping links intersect at a common point. Another one is that axials of passive wheels of all non side-slipping links are parallel.

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Section: Introductionmentioning

confidence: 73%

Section: Introductionmentioning

confidence: 99%

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Generalized Singularity Analysis of Snake-Like Robot

2018

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“…A full analysis of the conditions for singular configurations in a m -link robot was done by Tanaka and Tanaka (2016) and recently by Yona and Or (2019), the latter of which considered friction bounds and stick–slip transitions of skidding in their models. In preceding work on the three-link robot (Dear et al, 2016a,b, 2017), we showed how to appropriately model the transitions between normal and singular system operation under a hybrid model, and we described how this may be achieved in a physical system with external forcing, as well as its novel locomotive capabilities. We also showed that attaching a spring to the passive joint can replicate this behavior without relying on external forces, allowing for dynamic motions.…”

Section: Prior Workmentioning

confidence: 99%

“…If the kinematics are indeed modeled by “soft” rather than “hard” constraints to allow for wheel slip on arbitrary links, then it would be possible to allow for more than three commanded joints. The realization of soft constraints will be considered in future work; here we extend our work on a three-link robot with one commanded joint (Dear et al, 2016a,b) to a multi-link robot with the same.…”

Section: Dynamic Modelmentioning

confidence: 99%

Locomotion of a multi-link non-holonomic snake robot with passive joints

Dear

Buchanan

Abrajan-Guerrero

et al. 2020

The International Journal of Robotics Research

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Conventional approaches in prescribing controls for locomoting robots assume control over all input degrees of freedom (DOFs). Many robots, such as those with non-holonomic constraints, may not require or even allow for direct command over all DOFs. In particular, a snake robot with more than three links with non-holonomic constraints cannot achieve arbitrary configurations in all of its joints while simultaneously locomoting. For such a system, we assume partial command over a subset of the joints, and allow the rest to evolve according to kinematic chained and dynamic models. Different combinations of actuated and passive joints, as well as joints with dynamic elements such as torsional springs, can drastically change the coupling interactions and stable oscillations of joints. We use tools from nonlinear analysis to understand emergent oscillation modes of various robot configurations and connect them to overall locomotion using geometric mechanics and feedback control for robots that may not fully utilize all available inputs. We also experimentally verify observations and motion planning results on a physical non-holonomic snake robot.

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The wheeled three-link snake model: singularities in nonholonomic constraints and stick–slip hybrid dynamics induced by Coulomb friction

Yona

2018

Nonlinear Dyn

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Locomotive analysis of a single-input three-link snake robot

Cited by 11 publications

References 11 publications

Generalized Singularity Analysis of Snake-Like Robot

Generalized Singularity Analysis of Snake-Like Robot

Locomotion of a multi-link non-holonomic snake robot with passive joints

The wheeled three-link snake model: singularities in nonholonomic constraints and stick–slip hybrid dynamics induced by Coulomb friction

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