Polychaete-like Undulatory Robotic Locomotion

Tsakiris, Dimitris P.; Sfakiotakis, Michael; Menciassi, Arianna; Spina, G. La; Dario, P.

doi:10.1109/robot.2005.1570573

Cited by 34 publications

(36 citation statements)

References 28 publications

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“…Most of them were designed for use on ground [5], [6], [7], [8], [9], a few were designed for swimming [10], [11], and even fewer for both water and ground [12], [13]. Their control architecture can roughly be divided into three categories: sine-based, model-based, and CPG-based.…”

Section: A Related Workmentioning

confidence: 99%

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Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Ijspeert

Crespi

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

118

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Abstract-This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the neural circuits controlling locomotion in the lamprey's spinal cord. The CPG model is implemented as a system of coupled nonlinear oscillators on board of the robot. The CPG generates coordinated travelling waves in real time while being interactively modulated by a human-operator. Interesting aspects of the CPG model include (1) that it exhibits limit cycle behavior (i.e. it produces stable rhythmic patterns that are robust against perturbations), (2) that the limit cycle behavior has a closed-form solution which provides explicit control over relevant characteristics such as frequency, amplitude and wavelength of the travelling waves, and (3) that the control parameters of the CPG can be continuously and interactively modulated by a human operator to offer high maneuverability. We demonstrate how the CPG allows one to easily adjust the speed and direction of locomotion both in water and on ground while ensuring that continuous and smooth setpoints are sent to the robot's actuated joints.

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Section: A Related Workmentioning

confidence: 99%

“…Sine-based approaches use simple sine-based functions for generating travelling waves (see for instance [7], [9]). The advantages of such an approach are its simplicity and the fact that important quantities such as frequency, amplitude and wavelength are explicitly defined.…”

Section: A Related Workmentioning

confidence: 99%

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Ijspeert

Crespi

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

118

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“…When μ N /μ T 1, the undulatory system moves in the direction opposite to that of the wave propagation, so that forward propulsion is by retrograde (head-to-tail) body waves (see, e.g., [4], [9]- [12], [21]- [23]). By contrast, when μ N /μ T < 1, or when μ N /μ T 1 (as is the case in our system), the overall locomotion is along the body wave direction, so that forward motion is by direct (tail-to-head) waves (for analysis and relevant robotic implementations, see [1]- [3], [6], [8]). …”

Section: B Interaction With the Environmentmentioning

confidence: 90%

“…For example, when longitudinally-mounted wheeled modules are used, for movement over relatively smooth surfaces, forward propulsion is obtained by headto-tail body waves [4]. The effect of blade-bearing modules, similar to skates, is also under investigation [1]- [3].…”

Section: The Nereisbot Prototypementioning

confidence: 99%

Pedundulatory robotic locomotion: Centipede and polychaete modes in unstructured substrates

Sfakiotakis

Tsakiris

2009

2008 IEEE International Conference on Robotics and Biomimetics

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Abstract-The present paper considers a novel class of robotic systems, termed pedundulatory locomotors, which can be thought of as undulatory robots augmented by multiple pairs of lateral paddle-like appendages ("parapodia"). Bioinspired strategies for synchronizing the movement of the parapodia with the body undulations, emulating organisms like the centipedes and the polychaete worms, are presented, giving rise to distinct pedundulatory modes. These modes are investigated and comparatively assessed, both in simulation and via experiments with the Nereisbot prototype locomoting on sand and on several other unstructured substrates. Our studies demonstrate the rich gait repertoire and enhanced performance of pedundulatory systems, compared to purely undulatory ones.

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“…Examples of model-free controllers for snake-like robots are presented in Hirose's pioneering work in [1], the pedal wave approach found in [22], the modal approach of Chirikjian [2], compound serpenoid model in [20], and a variety of others [21]. Recent work in [16] presents an interesting extension to model-free control for snake robots.…”

Section: A Snake-like Robotsmentioning

confidence: 99%

Shape-Based Compliance in Locomotion

Travers¹,

Whitman²,

Schiebel³

et al.

Robotics: Science and Systems XII

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Abstract-Having many degrees of freedom is both a blessing and a curse. A mechanism with a large number of degrees of freedom can better comply to and therefore better move in complex environments. Yet, possessing many degrees of freedom is only an advantage if the system is capable of coordinating them to achieve desired goals in realtime. This work supports the belief that a middle layer of abstraction between conventional planning and control is needed to enable robust locomotion of articulated systems in complex terrains. The basis for this abstraction is the notion that a system's shape can be used to capture jointto-joint coupling and provide an intuitive set of controllable parameters that adapt the system to the environment in real time. This paper presents a generalizable framework that specifies desired shapes in terms of shape functions. We show how shape functions can be used to link low-level controllers to high-level planners in a compliant control framework that directly controls shape parameters. The resultant shape-based controllers produce behaviors that enable robots to robustly feel their way through unknown environments. This framework is applied to the control of two separate mechanisms, a snake-like and a hexapod robot.

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Polychaete-like Undulatory Robotic Locomotion

Cited by 34 publications

References 28 publications

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Pedundulatory robotic locomotion: Centipede and polychaete modes in unstructured substrates

Shape-Based Compliance in Locomotion

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