Planar kinematics analysis of a snake-like robot

Douadi, Lounis; Spinello, Davide; Gueaieb, Wail; Sarfraz, Hassan

doi:10.1017/s026357471300091x

Cited by 14 publications

(11 citation statements)

References 46 publications

(57 reference statements)

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“…Following up the idea of modeling an animal system, a second open question is to bridge the gap between highly refined physical models, minimalistic lumped parameters models, and practical experimentation [62][63][64][65][66][67]. This translational work is necessary to allow modeling efforts to become cogent tools for empirical studies on animal systems.…”

Section: Open Questionsmentioning

confidence: 99%

Dynamics of animal systems

Abaid

Butail

Porfiri

et al. 2015

Eur. Phys. J. Spec. Top.

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Section: Open Questionsmentioning

confidence: 99%

Dynamics of animal systems

Abaid

Butail

Porfiri

et al. 2015

Eur. Phys. J. Spec. Top.

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“…An autonomous robot is a widely accepted method for collecting data, including images, of pipes without or with little human intervention. To this end, several autonomous mobile robots for small diameter pipe inspection have been proposed [3], [4].…”

Section: Introductionmentioning

confidence: 99%

“…The goal of this research is to validate the theoretical robot design presented in [3], [4]. The proposed mobile robot design is comprised of three modules: two propulsive modules and a control module.…”

Section: Introductionmentioning

confidence: 99%

Design of a Multi-body Pipe Inspection Robot

Almanza¹,

Lanteigne²,

Gueaieb³

2020

Progress in Canadian Mechanical Engineering. Volume 3

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This paper presents a new hypermobile robot for inspecting pipes of different diameters. The robot is composed of three modules, two driving modules and one control module which are linked by a passive joint. The driving module has eight actuators: four gearmotors to propel the robot along the pipe, and four servomotors to control the radial position of the robot in the pipe and to maintain the robot's balance. A Raspberry Pi is used to control the actuators, acquire sensors feedback, and receive commands from a remote wireless user-controlled GUI. A set of preliminary experimental tests was conducted to demonstrate the effectiveness of the system.

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“…Robots can demonstrate advantages in camouflage and multiple degrees of freedom, with which dangerous works can be completed in a total and/or partial replace of people's roles, such as investigation, search and rescue, patrol, pipeline inspection, and space exploration. To strengthen advantages and usages of snake-like robots, many scholars have conducted active studies on the snake-like robots [6][7][8][9][10]. Leading Research Groups include the group led by Professor Hirsoe in Tokyo Institute of Technology (ACM R8), the robot team in Carnegie Mellon University (Uncle Sam), and the robot team in Michigan University (OmniTread).…”

Section: Introductionmentioning

confidence: 99%

Design and Realize a Snake-Like Robot in Complex Environment

Liu

et al. 2019

Journal of Robotics

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Aiming at high performance requirements of snake-like robots under complex environment, we present a control system of our proposed design which utilizes a STM32 as the core processor and incorporates real-time image acquisition, multisensor fusion, and wireless communication technology. We use Solidworks to optimize the design of head, body, and tail joint structure of the snake-like robot. The system is a real-time system with a simple-circuit structure and multidegrees of freedom are attributed to the flawless design of control system and mechanical structure. We propose a control method based on our simplified CPG model. Meanwhile, we improve Serpenoid control function and then investigate how different parameters affect the motion gait in terms of ADAMS emulation. Finally, experimental results show that the snake-like robot can tackle challenging problems including multi-information acquisition and processing, multigait stability, and autonomous motion and further verify the reliability and accuracy of the system in our combinatory experiments.

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Planar kinematics analysis of a snake-like robot

Cited by 14 publications

References 46 publications

Dynamics of animal systems

Dynamics of animal systems

Design of a Multi-body Pipe Inspection Robot

Design and Realize a Snake-Like Robot in Complex Environment

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