Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels

Kamegawa, Tetsushi; Harada, Takaaki; Gofuku, Akio

doi:10.1109/robot.2009.5152862

Cited by 56 publications

(21 citation statements)

References 5 publications

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“…3), [63], [64] (see Fig. 4), [65], [66], [67], [68], and [69]. Some of the robots can only display planar motion, while other robots can …”

Section: Snake Robots Without Contact Force Sensorsmentioning

confidence: 99%

“…Without position or heading control [2], [128], [80], [129], [130], [69], [131], [132], [78], [133], [134].…”

Section: Locomotion In Environments With Obstaclesmentioning

confidence: 99%

“…The algorithm is applied to achieve climbing motion with a snake robot. A gait for climbing motion is also proposed in [69]. Range sensor measurements are used in [136] to centre a crawling snake robot between the walls of a corridor.…”

Section: Controllers For Locomotion In Environments With Obstaclesmentioning

confidence: 99%

See 2 more Smart Citations

A review on modelling, implementation, and control of snake robots

Liljebäck

Pettersen

Stavdahl

et al. 2012

Robotics and Autonomous Systems

231

118

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This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms.

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“…3), [63], [64] (see Fig. 4), [65], [66], [67], [68], and [69]. Some of the robots can only display planar motion, while other robots can …”

Section: Snake Robots Without Contact Force Sensorsmentioning

confidence: 99%

“…Without position or heading control [2], [128], [80], [129], [130], [69], [131], [132], [78], [133], [134].…”

Section: Locomotion In Environments With Obstaclesmentioning

confidence: 99%

See 1 more Smart Citation

A review on modelling, implementation, and control of snake robots

Liljebäck

Pettersen

Stavdahl

et al. 2012

Robotics and Autonomous Systems

231

118

View full text Add to dashboard Cite

show abstract

“…The axis of pitch and yaw joints are the x-axis and z-axis of ith local frame o i x i y i z i . The position of every link of the snake robots p i is calculated in first part; the relationship between the ith pitch joint revolute angle y pi , the ith yaw joint revolute angle y yi , and the placement of ith link p i is presented in equation (2).…”

Section: Planar-cylindrical Gaits Transformation Mechanismmentioning

confidence: 99%

Arboreal concertina locomotion of snake robots on cylinders

Tang

Shu

Meng

et al. 2017

International Journal of Advanced Robotic Systems

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This article proposes a novel gait on cylinders for a snake robot as well as arboreal concertina locomotion gait, including the generation method. The gait on the cylinder of a snake robot is a kind of spatial motion planning that is difficult in manual design. In this article, a planar gait of a snake robot is first constructed, followed by cylindrical gait via a transformation mechanism. In addition, a gait generating scheme of arboreal concertina locomotion gait of snake robots on cylinders is constructed and verified via a simulation platform. Such gait makes advantages on cylindrical motion capability of snake robots and the proposed generation approach for gait construction can be promoted to other cylindrical gaits, reducing design difficulty.

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“…But when you make use of the advantages of mechanical structure of snake-like robot, some locomotion gait that snake can't realize can be realized. Ka-megawa [3] put forward a ring, crawling, twisting, bridge and locomotion relying on wheel. Togawa [4] put forward spiral, twisting and ring locomotion.…”

Section: A Biomechanical Studies Of Biological Snakesmentioning

confidence: 99%

An overview on theory and implementation of snake-like robots

Shao

Guo

Wang

et al. 2015

2015 IEEE International Conference on Mechatronics and Automation (ICMA)

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In recent decades, a lot of research has been done on snake-like robots. There has been a new revolution in theory and implementation of snake-like robots. It enlarges the field of robotic application. A literature survey of researches on snakelike robots theory is provided biomechanical studies of biological snakes, kinematics and dynamics modeling, control system analysis. The research theory results are elaborated systemically. In particular, control system is introduced ulteriorly, which are control based on morphology, kinematics and dynamics, CPG. Then classifications of typical snake-like robots are presented according to the differences of structures and movement types. Representative snake-like robot bodies are described targetedly in detail. Finally, the development of snake-like robots is predicted. The overview shows that the majority of literature on snake-like robots so far has focused on experiment instead of the real, but there is a growing trend towards locomotion in realistic environments that are more challenging in future.Index Terms -snake-like robot, biomechanics, control system, body design.

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Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels

Cited by 56 publications

References 5 publications

A review on modelling, implementation, and control of snake robots

A review on modelling, implementation, and control of snake robots

Arboreal concertina locomotion of snake robots on cylinders

An overview on theory and implementation of snake-like robots

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