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Snake-Like Robot Workspace Solving Method Based on Improved Monte Carlo Method [PDF]
Applied Bionics and BiomechanicsThe method is applicable for solving the obstacle avoidance workspace of a snake-like robot working on high-voltage transmission cables, based on an improved Monte Carlo method, to address the issues of uneven distribution of scattered points, difficulty
ZhiYong Yang +6 more
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AmphiBot I: An Amphibious Snake-Like Robot [PDF]
Robotics and Autonomous Systems, 2005 This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground.
Alessandro Crespi, Auke Jan Ijspeert
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Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot [PDF]
BioMedical Engineering OnLine, 2017 Background Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-
Olatunji Mumini Omisore +6 more
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IEEE Robotics and Automation Magazine, 2009 We have introduced the biomechanical research on snakes and developmental research on snake-like robots that we have been working on. We could not introduce everything we developed. There were also a smaller snake-like active endoscope; a large-sized snake-like inspection robot for nuclear reactor related facility, Koryu, 1 m in height, 3.5 m in length,
Hiroya Yamada, Shigeo Hirose
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International Journal of Advanced Robotic Systems, 2019 Aiming at the problem of trajectory tracking between joints of the multi-joint snake-like robot in the flow fields, a trajectory tracking control law proposed based on the improved snake-like curve of a multi-joint snake-like robot to avoid obstacles in ...
Dongfang Li +3 more
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Modular Snake-like Robot Designed for On-Site Reconfiguration in Space Exploration [PDF]
BiomimeticsResearch on modular robots for space exploration has primarily focused on reconfiguration, with limited attention given to the maneuverability in space environment, which is essential for harnessing the advantages of reconfiguration.
Ning Zhao +10 more
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Energy-Efficient Path Planning for Snake Robots Using a Deep Reinforcement Learning-Enhanced A* Algorithm [PDF]
BiomimeticsSnake-like robots, characterized by their high flexibility and multi-joint structure, exhibit exceptional adaptability to complex terrains such as snowfields, jungles, deserts, and underwater environments.
Yang Gu, Zelin Wang, Zhong Huang
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Simultaneous Localization and Mapping Methods for Snake-like Robots Based on Gait Adjustment [PDF]
BiomimeticsSnake robots require autonomous localization and mapping capabilities for field applications. However, the characteristics of their motion, such as large turning angles and fast rotation speeds, can lead to issues like drift or even failure in ...
Chaoquan Tang +5 more
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On the motion of a snake‐like soft robot [PDF]
PAMM, 2021 AbstractIn this work, we investigate the locomotion of a snake‐like soft robot in terms of its design. Therefore the backbone of the robot is represented by a curve in plane which is actuated by a given curvature. By adding anisotropic friction between robot and surface the robot “moves” on the surface.With this simple model we are able to predict the ...
Lamping, Frederik +2 more
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Algebraic Structure and Poisson Integral Method of Snake-Like Robot Systems
Frontiers in Physics, 2021 The algebraic structure and Poisson's integral of snake-like robot systems are studied. The generalized momentum, Hamiltonian function, generalized Hamilton canonical equations, and their contravariant algebraic forms are obtained for snake-like robot ...
Fu Jing-Li, Xiang Chun, Meng Lei
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