Motion Design for a Snake Robot Negotiating Complicated Pipe Structures of a Constant Diameter

Inazawa, Mariko; Takemori, Tatsuya; Tanaka, Motoyasu; Matsuno, Fumitoshi

doi:10.1109/icra40945.2020.9197224

Cited by 14 publications

(7 citation statements)

References 15 publications

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“…Rollinson and Choset [4] used a compliance controller to direct a snake robot to automatically adapt to the shape of the fork, but this method can only be used for climbing inside pipes. [5][6][7] proposed methods for achieving climbing motion along curved pipes by designing target curves. However, the solution strategies mentioned in [3][4][5][6][7] can be applied only to climbing inside pipes.…”

Section: Introductionmentioning

confidence: 99%

“…[5][6][7] proposed methods for achieving climbing motion along curved pipes by designing target curves. However, the solution strategies mentioned in [3][4][5][6][7] can be applied only to climbing inside pipes. The helical wave propagation motion proposed by Qi et al [8,9] has the ability to cross the bifurcation, but it uses stopand-go movements with low propulsion speed on the outside of the pipe.…”

Section: Introductionmentioning

confidence: 99%

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S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe

Lu,

Tang,

et al. 2024

Bioinspir. Biomim.

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In this work, we focus on overcoming the challenge of a snake robot climbing on the outside of a bifurcated pipe. Inspired by the climbing postures of biological snakes, we propose an S-shaped rolling gait designed using curve transformations. For this gait, the snake robot’s body presenting an S-shaped curve is wrapped mainly around one side of the pipe, which leaves space for the fork of the pipe. To overcome the difficulty in constructing and clarifying the S-shaped curve, we present a method for establishing the transformation between a plane curve and a 3D curve on a cylindrical surface. Therefore, we can intuitively design the curve in 3D space, while analytically calculating the geometric properties of the curve in simple planar coordinate systems. The effectiveness of the proposed gait is verified by actual experiments. In successful configuration scenarios, the snake robot could stably climb on the pipe and efficiently cross or climb to the bifurcation while maintaining its target shape.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe

Lu,

Tang,

et al. 2024

Bioinspir. Biomim.

View full text Add to dashboard Cite

show abstract

“…For this research situation, various gait control functions can be obtained by different generation methods. However, for some complex curves, the process of solving curvature and deflection through coordinates is complicated, and the resulting equation is not easy to express [ 16 ]. In addition, if there is a part with zero curvature in the target curve, the torsion may tend to infinity.…”

Section: Introductionmentioning

confidence: 99%

Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting

et al. 2023

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Gait generation method is one of the important contents of snake robot motion control. Different gait generation methods produce completely different forms of control functions, so snake robots need more complicated programming logic and processes to realize various gaits and their transformation. Therefore, we propose a new unified expression of gait method, The MCC (main characteristics control) method simplifies and unifies the control functions of different snake robots gaits by extracting the main features of the backbone curves of snake robots gaits. Since all periodic curves that meet the Dirichlet conditions can be formed by superposition of sinusoidal curves, taking the “lowest frequency” part that reflects the main characteristics of the curve as the target configuration can simplify the motion control function of snake robots’ gaits. Based on the MCC method, some snake robot gaits are reconstructed, including serpentine gait, rolling gait, helix rolling gait, and crawler gait. In addition, based on MCC method, an AEH-sidewinding gait control method is proposed. The backbone of the AEH-sidewinding gait is closer to the ideal elliptic helix, thus improving the accuracy of its kinematics modeling of snake robot sidewinding gait. Finally, the validity of this gait is verified by experiments. This unified gait expression of snake robots will be helpful to realize smooth gait switching between different gaits of snake robots.

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“…This research is based on Inazawa et al ( 2020 ) and expands it by adding a model that considers the slip between pipe and robot in order to negotiate a change in diameter and to move from inside to outside a pipe. Finally, we carry out these experiments to verify the model.…”

Section: Introductionmentioning

confidence: 99%

“…The content of this manuscript has been presented in part at the IEEE International Conference on Robotics and Automation (Inazawa et al, 2020 ).…”

mentioning

confidence: 99%

Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures

et al. 2021

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A unified method for designing the motion of a snake robot negotiating complicated pipe structures is presented. Such robots moving inside pipes must deal with various “obstacles,” such as junctions, bends, diameter changes, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures in a unified way. This method also applies to motion that is necessary to pass between the inside and the outside of a pipe. We designed the target form of the snake robot using two helices connected by an arbitrary shape. This method can be applied to various obstacles by designing a part of the target form specifically for given obstacles. The robot negotiates obstacles under shift control by employing a rolling motion. Considering the slip between the robot and the pipe, the model expands the method to cover cases where two helices have different properties. We demonstrated the effectiveness of the proposed method in various experiments.

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Motion Design for a Snake Robot Negotiating Complicated Pipe Structures of a Constant Diameter

Cited by 14 publications

References 15 publications

S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe

S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe

Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting

Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures

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