Optimally Efficient Locomotion of Snake Robot

Baysal, Yesim A.; Altaş, İsmail H.

doi:10.1109/inista49547.2020.9194621

Cited by 7 publications

(4 citation statements)

References 16 publications

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“…In some locomotion problems there is a trade-off between speed and efficiency, where the highest efficiency is achieved at the lowest speeds. This was found by [40] in their model of snake locomotion using sidewinding, lateral undulation, and sinus lifting gaits, and by [41,42] in models of lateral undulation at particular sets of friction coefficients. Here we compute optimally efficient gaits and find that the most efficient gait occurs with a small velocity in only a portion of friction coefficient space.…”

mentioning

confidence: 59%

“…It is also useful to consider the speed of locomotion attained by the optimal motions. Some locomotion studies optimize both the speed and efficiency (or input power) simultaneously [40][41][42], and one can obtain a one-dimensional Pareto frontier of optimal motions in speed-efficiency space. Each such optimum has the highest speed among motions with the same efficiency, or the highest efficiency among motions with the same speed.…”

Section: Efficient Single-frequency (Elliptical) Kinematicsmentioning

confidence: 99%

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Efficient sliding locomotion of three-link bodies with inertia

Adam

Alben

2022

Phys. Rev. E

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Many previous studies of sliding locomotion have assumed that body inertia is negligible. Here we optimize the kinematics of a three-link body for efficient locomotion and include among the kinematic parameters the temporal period of locomotion, or equivalently, the body inertia. The optimal inertia is non-negligible when the coefficient of friction for sliding transverse to the body axis is small. Inertia is also significant in a few cases with relatively large coefficients of friction for transverse and backward sliding, and here the optimal motions are less sensitive to the inertia parameter. The optimal motions seem to converge as the number of frequencies used is increased from one to four. For some of the optimal motions with significant inertia we find dramatic reductions in efficiency when the inertia parameter is decreased to zero. For the motions that are optimal with zero inertia, the efficiency decreases more gradually when we raise the inertia to moderate and large values. I. INTRODUCTIONThis work addresses the physics of terrestrial locomotion, part of a larger field of interdisciplinary studies of the locomotion of organisms, robots, and vehicles, often bio-inspired [1][2][3][4][5][6][7]. Aerial and aquatic locomotion problems are often dominated by the interaction between a locomoting body (or bodies) and the surrounding fluid, and may involve complicated fluid dynamics [4,7]. Terrestrial locomotion is usually dominated by local contact forces involving friction [3,5,6,8,9], which may also be complicated to characterize. Here we study sliding locomotion inspired by biological and robotic snakes [3,5,6,[10][11][12]. As with several recent models [6,[13][14][15][16][17][18][19][20][21], we use a local Coulomb friction force model for the interaction between the body and the surface that it slides across. The problem is similar to a larger body of work that has used resistive force theory to approximate fluid forces on swimming bodies in the viscousdominated (zero-Reynolds-number or Stokes) regime [2,[22][23][24][25]. For the sliding locomotion problem here we adopt the three-link body that has been used Purcell and many others; it is one of the simplest bodies that can locomote at zero Reynolds number, by performing time-irreversible (e.g. undulatory) motions [2,23,[26][27][28]. Unlike the Stokes swimmers, for sliding locomotion the body's inertia can play an important role, though it has mostly been neglected for simplicity [16][17][18]29]. Neglecting inertia allows one to analyze this system and the three-link swimmer using a geometrical-mechanics framework [19,[30][31][32][33].The body's inertia can be neglected for motions with small accelerations, which is a reasonable approximation for

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confidence: 59%

Section: Efficient Single-frequency (Elliptical) Kinematicsmentioning

confidence: 99%

Efficient sliding locomotion of three-link bodies with inertia

Adam

Alben

2022

Phys. Rev. E

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“…However, there is a lack of visual implementation. Previous articles on the subject analyse the joint angles’ angular velocities and the robot’s head or mass centre linear velocity [ 24 , 25 , 26 , 27 , 28 ]. In these articles, snake robots used Line-of-Sight (LOS) guidance control law to exponentially stabilise the desired straight-line path under a given condition on the look-ahead distance parameter.…”

Section: Introductionmentioning

confidence: 99%

Analysis of the Snake Robot Kinematics with Virtual Reality Visualisation

Sibilska-Mroziewicz

Hameed

Możaryn

et al. 2023

Sensors

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In this article, we present a novel approach to performing engineering simulation in an interactive environment. A synesthetic design approach is employed, which enables the user to gather information about the system’s behaviour more holistically, at the same time as facilitating interaction with the simulated system. The system considered in this work is a snake robot moving on a flat surface. The dynamic simulation of the robot’s movement is realised in dedicated engineering software, whereas this software exchanges information with the 3D visualisation software and a Virtual Reality (VR) headset. Several simulation scenarios have been presented, comparing the proposed method with standard ways for visualising the robot’s motion, such as 2D plots and 3D animations on a computer screen. This illustrates how, in the engineering context, this more immersive experience, allowing the viewer to observe the simulation results and modify the simulation parameters within the VR environment, can facilitate the analysis and design of systems.

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“…A novel multigait continuous snake robot based on flexible springs was proposed (Zhao et al, 2022) to aid more flexibility. To minimize the average power consumption and maximize the forward velocity of the untethered snake robot, optimum gait parameters were obtained using the symbiotic organism search algorithm (Baysal & Altas, 2020).…”

Section: Introductionmentioning

confidence: 99%

Modeling of novel circular gait motion through daisy sequence fitting algorithm in a vertical climbing snake robot

Megalingam,

Senthil,

Raghavan

et al. 2023

Journal of Field Robotics

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Snake robots can be used in multiple tasks, like, climbing, surveillance, pipe inspection, welding, and so forth. Current gaits of snake robots do not support rotation on a single horizontal plane in a circular fashion of a pole or tree at a fixed height. This makes snake robot extremely difficult to take the end effector to the desired target position and orientation. In addition, torque requirement of individual actuators or links of snake robot proportionally increases based on the number of links to be lifted while performing any task. In this paper, we propose a new gait called circular gait using the Daisy Sequence Fitting algorithm to solve the problems of circular rotation on a horizontal plane at a certain height with low torque. A sliding mode (SM) controller is implemented to achieve the circular gait's required position dynamically. Simulation results show that using the proposed circular gait, the end effector can be moved to any point on the circumference of the fixed horizontal plane of the pole or tree with a lesser torque. For the 0.5 kg module, circular gait moved the end effector to the target point using only 4.5 N m torque. The SM controller outperforms the proportional, integral, and derivative controllers in terms of response characteristics.

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Optimally Efficient Locomotion of Snake Robot

Cited by 7 publications

References 16 publications

Efficient sliding locomotion of three-link bodies with inertia

Efficient sliding locomotion of three-link bodies with inertia

Analysis of the Snake Robot Kinematics with Virtual Reality Visualisation

Modeling of novel circular gait motion through daisy sequence fitting algorithm in a vertical climbing snake robot

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