Results 221 to 230 of about 20,631 (254)

Control of a 3-dimensional snake-like robot

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2004
Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. In this paper, we first discuss the controllability of
Shugen Ma, Yoshihiro Ohmameuda, Kousuke Inoue, Bin Li 0001   +3 more
openaire   +1 more source

Multi arm snake-like robot kinematics

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
The next step in minimally invasive surgery is the further reduction of incisions by surgery through natural orifices (NOTES) or one single artificial incision (Single-Port). However, physicians pointed out, that those procedures are only possible if new technologies will increase the dexterity of the instruments inside of the body.
Daniel B. Roppenecker, Aron Pfaff, Johannes A. Coy, Tim C. Lueth   +3 more
openaire   +1 more source

Design of a novel snake-like robotic colonoscope

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009
The colonoscope is an important surgical tool to diagnose various colon diseases. However, the conventional colonoscope usually causes the patient a great deal of discomfort and pain. In order to develop a colonoscope for less discomfort of the patient and less demanding operation techniques of the doctor, a novel snake-like robotic colonoscope is ...
Haiyan Hu, Pengfei Wang 0001, Bo Zhao 0012, Mantian Li, Lining Sun   +4 more
openaire   +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

Influence of the gradient of a slope on optimal locomotion curves of a snake-like robot

Advanced Robotics, 2006
Snakes perform many kinds of movement adapted to different environments. Utilizing the snake as a model, we have developed a two-dimensional snake-like robot that emulates a snakes' function.
Shugen Ma, Kousuke Inoue
exaly   +1 more source

Motion control scheme for a snake-like robot

Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375), 2003
We present a new control scheme for a snake-like robot. This scheme is very close to the scheme which real snakes use to control their movement. After presenting some observations gained from real snakes we describe our robot GMD-SNAKE2, a robot for inspection tasks in areas difficult to access by humans.
Karl L. Paap, Frank Kirchner, Bernhard Klaassen   +2 more
openaire   +1 more source

Construction and operation of a snake-like robot

Proceedings IEEE International Joint Symposia on Intelligence and Systems, 2002
Our robot, called the GMD-Snake, uses its body instead of wheels, legs, or arms for locomotion as well as for handling items. It may be used for inspection and manipulation in areas where motion is restricted. We describe the hardware and software of the GMD-Snake and some locomotion experiments.
R. Worst, R. Linnemann
openaire   +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

Structure and Analysis of a Snake-like Robot

2007
A snake is an extremely capable organism that can conquer harsh terrains like rock and sand with apparent ease. The present work highlights the design, development and testing of a snake-like robot prototype. So called ‘SnakeBOT’, is a modular, wheeled snake-like robot.
Anjali V. Kulkarni, Ravdeep Chawla
openaire   +1 more source

Twist-related Locomotion of a 3D Snake-like Robot

2004 IEEE International Conference on Robotics and Biomimetics, 2005
As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural ...
Changlong Ye 0001, Shugen Ma, Bin Li 0001, Yuechao Wang   +3 more
openaire   +1 more source