Results 221 to 230 of about 85,632 (272)

Two-Relay Controller and Its Application in Snake-Like Robot Motion: An Infinite-Dimensional Setting

American Control Conference, 2021
We proposed a self-oscillation control and its application to the locomotion of a robotic snake system whose model is governed by a partial differential equation.
L. Aguilar
semanticscholar   +1 more source

Development of a snake-like robot

9th IEEE International Workshop on Advanced Motion Control, 2006., 2006
This 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
openaire   +1 more source

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration

Science Robotics
Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through ...
T. Vaquero, G. Daddi, R. Thakker, M. Paton, A. Jasour, Marlin P. Strub, R. M. Swan, R. Royce, M. Gildner, P. Tosi, M. Veismann, P. Gavrilov, E. Marteau, J. Bowkett, D. L. de Mola Lemus, Y. Nakka, B. Hockman, A. Orekhov, T. Hasseler, C. Leake, B. Nuernberger, P. Proença, W. Reid, W. Talbot, N. Georgiev, T. Pailevanian, A. Archanian, E. Ambrose, J. Jasper, R. Etheredge, C. Roman, D. Levine, K. Otsu, S. Yearicks, H. Melikyan, R. Rieber, K. Carpenter, J. Nash, A. Jain, L. Shiraishi, M. Robinson, M. Travers, H. Choset, J. Burdick, A. Gardner, M. Cable, M. Ingham, M. Ono   +47 more
semanticscholar   +1 more source

Locomotion Analysis of a Modular Underactuated Snake-like Robot

International Conference on Real-time Computing and Robotics
The exploration of snake locomotion has significantly informed the field of robotics, especially in the development of robots capable of navigating complex terrains.
Zhenxuan Ma, Jun Zhang, Yiming Cao, Zaiyang Liu, Yang Tian, Longchuan Li, Shugen Ma, Zhongkui Wang   +7 more
semanticscholar   +1 more source

EELS: A Modular Snake-like Robot Featuring Active Skin Propulsion, Designed for Extreme Icy Terrains

IEEE Aerospace Conference
This paper describes the end-to-end electro-mechanical design of EELS which is a novel modular snake-like robot with active skin propulsion developed at NASA’s Jet Propulsion Laboratory.
N. Georgiev, T. Pailevanian, E. Ambrose, A. Archanian, H. Melikyan, Daniel Loret de Mola Lemu, M. Gildner   +6 more
semanticscholar   +1 more source

A Static Model for a Stiffness-Adjustable Snake-Like Robot

IEEE/RJS International Conference on Intelligent RObots and Systems, 2021
In minimally invasive surgery, miniaturisation and in situ adjustable stiffness of robotic manipulators are desired features. Previous research proposed a simple and effective tendon-driven curve-joint manipulator design using a variable neutral-line ...
Dianye Huang, Jian Hu, Liu-yang Guo, Yi Sun, Liao Wu   +4 more
semanticscholar   +1 more source

Snake-Like and Continuum Robots

2016
This chapter provides an overview of the state of the art of snake-like (backbones comprised of many small links) and continuum (continuous backbone) robots. The history of each of these classes of robot is reviewed, focusing on key hardware developments. A review of the existing theory and algorithms for kinematics for both types of robot is presented,
Ian D. Walker, Howie Choset, Gregory S. Chirikjian   +2 more
openaire   +1 more source

Snake-like robot climbs inside different pipes

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
Based on the application of snake-like robot as pipeline robot, this paper presents a compound climbing gait of it. By analyzing the characteristics of existing inside climbing gaits, blend various gait with sensor information, so that the robot can climb in more complex and more extensive inside pipe environment. The experimental results show that the
Shanshan Xiao, Zhenshan Bing, Kai Huang, Yuhong Huang   +3 more
openaire   +1 more source

Modelling for Rolling Motion of Snake-Like Robot Using Center of Gravity Shift

IEEE/SICE International Symposium on System Integration
A snake-like robot can traverse rough terrain where conventional robots cannot. Many previous studies focused mainly on locomotion of snakes. However, snake locomotion still has the problem of high power consumption due to the drive of many actuators. To
T. Kimoto, A. Yamano, M. Chiba, Takashi Iwasa   +3 more
semanticscholar   +1 more source

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, Shugen Ma, Changlong Ye, Shumei Yu, null Guowei Zhang, null Haili Gong   +5 more
openaire   +1 more source