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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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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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Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot. [PDF]
Biomed Eng 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-
Omisore OM +6 more
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Modular Snake-like Robot Designed for On-Site Reconfiguration in Space Exploration. [PDF]
Biomimetics (Basel)Research 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.
Zhao N +10 more
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IEEE Robotics & 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,
Shigeo Hirose, Hiroya Yamada
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Planar kinematics analysis of a snake-like robot [PDF]
Robotica, 2013 SUMMARYThis paper presents the kinematics of a planar multibody vehicle which is aimed at the exploration, data collection, non-destructive testing and general autonomous navigation and operations in confined environments such as pipelines. The robot is made of several identical modules hinged by passive revolute joints.
Lounis Douadi +3 more
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The Parameterized Complexity of Motion Planning for Snake-Like Robots [PDF]
Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, 2019 We study a motion-planning problem inspired by the game Snake that models scenarios like the transportation of linked wagons towed by a locomotor to the movement of a group of agents that travel in an ``ant-like'' fashion. Given a ``snake-like'' robot with initial and final positions in an environment modeled by a graph, our goal is to decide whether ...
Siddharth Gupta 0002 +2 more
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PATH PLANNING ALGORITHM FOR SNAKE-LIKE ROBOTS
Information Technology and Control, 2008 Snake-like robots have the ability of automatically performing various tasks that require man-equivalent capabilities by reaching areas difficult or impossible to reach for human beings. However, problems in path planning and design of such robots prevent them from being fully functional.
Gurbuz, R, Conkur, Erdinç Şahin
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Flexible instruments for a snake-like robot
, 2020 Minimally Invasive Surgery (MIS) is a widely adopted technique due to the many advantages it holds for patients, e.g., reductions in healing times. In MIS one procedure within many is using a snakelike robot for scarless endoscopic surgery, such as gastrointestinal endoscopic surgery.
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