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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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Vision-based Path Following of Snake-like Robots
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021Due to the head swinging and the body winding, the self-localization and path following for snake-like robots based on vision are very challenging. In this paper, a novel pantilt compensation method and curve parameter compensation path following controller are proposed to solve these problems, which can achieve high-precision path following.
Lixing Liu +3 more
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Passivity control of underactuated snake-like robots
2008 7th World Congress on Intelligent Control and Automation, 2008This paper presents a passivity control for snake-like robot systems. The bionic robot and underactuated robot have been put into practice. The paper mainly studies the snake robot that is close to a real snake by using biological modeling. The dynamic model in this paper has been built with the passivity controller technique.
null Junquan Li, null Jinjun Shan
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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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Passive creeping of a snake-like robot
2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009The control of a snake-like robot is a challenging problem because of the complex dynamics. In this paper, we present a novel method, called passive creeping, to control the serpentine locomotion of the snake-like robot. The kernel of this method is composed of the following two concepts: 1) dynamic shift brings the tendency toward the serpentine ...
Zhifeng Wang +3 more
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Design, Control and Experiment of a Snake-like Robot with Gripper
2020 17th International Conference on Ubiquitous Robots (UR), 2020In this paper, a novel snake-like robot is proposed by attaching a gripper on its head to enhance the exploration and operation abilities of the snake-like robots.
Yongjiang Xue +4 more
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Study Model of the Snake Like Robot
2010Paper deals with design of study model snake like robot. Robot is designed as articulated locomotion device. It consists of eight articulated joints with one degree of freedom. It is designed as didactic model for education in Mechatronic study program.
M. Kelemen, T. Kelemenová
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Snake-like robot negotiating three-dimensional pipelines
2007 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2007An in-pipe robot negotiating three dimensional pipelines including branches, elbows, vertical pipes, and diameter-changing pipes was developed. The robot consists of thirteen intelligent actuators, and applying the sinusoidal wave drive makes the robot form sinusoidal waves to obtain the propelling force by gripping pipe walls.
Akina Kuwada +5 more
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Head-raising Motion of Snake-like Robots
2004 IEEE International Conference on Robotics and Biomimetics, 2005To acquire more environmental information for planning further tasks, the snake-like robot has to raise its head to observe the situation at a high position due to its low-height stature, which resembles the head-raising motion of the natural snake. In this paper, the motion of snake-like robot raising head is realized by improving the serpentine input
null Changlong Ye +3 more
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Trajectory Control of Snake‐Like Robots in Natural Oscillation
Asian Journal of Control, 2016AbstractA class of body movement patterns called natural oscillation has been revealed to mimic the gaits observed in many animals. In this paper, we introduce an additional higher level control loop that is capable of manipulating a robot's motion orientation.
Jin, Huifeng, Zhu, Lijun, Chen, Zhiyong
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