Quasistatic inflation processes within compliant tubes

Vogt, Werner Pd Dr. rer. nat. habil.; Steigenberger, Joachim; Maißer, P.

doi:10.1002/zamm.201500276

Cited by 1 publication

(1 citation statement)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…While there has been some research on mathematical models of soft environments. For example, literature Vogt et al (2017) describes a soft tube environment, in this study it was necessary to construct a new soft planar model that interacts with a moving robot in a dynamics simulator. We propose the modeling method for a soft floor.…”

Section: Introductionmentioning

confidence: 99%

Parameter search of a CPG network using a genetic algorithm for a snake robot with tactile sensors moving on a soft floor

Tamura

Kamegawa

2023

Front. Robot. AI

View full text Add to dashboard Cite

When a snake robot explores a collapsed house as a rescue robot, it needs to move through various obstacles, some of which may be made of soft materials, such as mattresses. In this study, we call mattress-like environment as a soft floor, which deforms when some force is added to it. We focused on the central pattern generator (CPG) network as a control for the snake robot to propel itself on the soft floor and constructed a CPG network that feeds back contact information between the robot and the floor. A genetic algorithm was used to determine the parameters of the CPG network suitable for the soft floor. To verify the obtained parameters, comparative simulations were conducted using the parameters obtained for the soft and hard floor, and the parameters were confirmed to be appropriate for each environment. By observing the difference in snake robot’s propulsion depending on the presence or absence of the tactile sensor feedback signal, we confirmed the effectiveness of the tactile sensor considered in the parameter search.

show abstract

Section: Introductionmentioning

confidence: 99%