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Analysis of Creeping Locomotion of a Snake-Like Robot
Advanced Robotics, 2001Snakes perform many kinds of movement adapted to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot, that performs the snake's function, is important for generating a new type of locomotion and expanding the possible uses of robots.
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Development of an amphibious snake-like robot
2010 8th World Congress on Intelligent Control and Automation, 2010 This paper presents an amphibious snake-like robot's design. This amphibious snake-like robot, mainly composed by 8 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. The control equations for each gait are introduced.
Bin Li +5 more
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Development of a 3D Snake-Like Robot: Perambulator-II
, 2007 Snake-like robots exhibited more advantages than conventional mobile robots on environment adaptation. They almost can move in most ill conditions including rough terrain, desert, water, cave and tree.
Shugen Ma, Changlong Ye
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Analysis of Creeping Locomotion of a Snake-Like Robot on a Slope
Autonomous Robots, 2006 The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force.
Shugen Ma
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Biologically Inspired Snake-like Robots
2004 IEEE International Conference on Robotics and Biomimetics, 2005We have developed the snake-like robot since 1972. The body of snake has "the function of an arm" when it holds something by coiling itself and also has "the function of legs" when it moves by creeping. The body of ACM has several functions, which are fulfilled one after another according to the situation.
Shigeo Hirose, Makoto Mori
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Modeling Friction for a Snake-Like Robot
Advanced Robotics, 2008An elliptical model for anisotropic friction, taken from solid mechanics, is incorporated into the field of simulating and modeling snakes and snake-like robots for the first time. This model avoids the theoretical and empirical pitfalls the decoupled model previously used in the field encountered.
Krzysztof Skonieczny +1 more
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2017 IEEE International Conference on Robotics and Automation (ICRA), 2017
Since the minimally invasive surgery has significant benefits for the patient, special equipment and techniques are constantly enhanced in this relatively new surgical field, so that more challenging surgical applications can be achieved. Thereby, the major aim is to enable the surgeon to manipulate instruments inside the human body intuitively ...
Yannick S. Krieger +3 more
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Since the minimally invasive surgery has significant benefits for the patient, special equipment and techniques are constantly enhanced in this relatively new surgical field, so that more challenging surgical applications can be achieved. Thereby, the major aim is to enable the surgeon to manipulate instruments inside the human body intuitively ...
Yannick S. Krieger +3 more
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Development of a snake-like robot
9th IEEE International Workshop on Advanced Motion Control, 2006., 2006This paper presents the development of a robot that mimics the movement of a live snake. A prototype robot comprising six links was constructed. Torque actuators between the links modify the robot's shape. Anisotropic friction between the links and the ground generates the force that propels the robot. A control variable that determines actuator angles
J. Bezgovsek, I. Grabec, P. Muzic
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Development of a Snake-like Robot
1996In spite of the wide theoretical capabilities they are attributed, the use of snake-like mobile robots is still limited, partly because the control of such systems is difficult, and requires a high computational cost, even in very simple situations. In this paper we described the design of a wheeled hyperredundant robot that can perform 3-dimensional ...
Luc Jammes +2 more
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Simulation of a Novel Snake-Like Robot
2006This research focuses on simulation of a new snake-like robot. Most of the snake-like robots developed until now are based on the lateral undulation mode of locomotion. Nevertheless, it seems difficult to apply this mode of locomotion in realistic conditions such as non-planar and complex grounds, since most of these robots use wheels.
R. Aubin, P. Blazevic, J.-P. Guyvarch
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