Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force–Position Control Method [PDF]
Sensors, 2022 The movement capabilities of snake robots allow them to be applied in a variety of applications. We realized a snake robot climbing in crowded pipes. In this paper, we implement a sinusoidal curve control method that allows the snake robot to move faster.
Yongdong Wang, Tetsushi Kamegawa
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Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting [PDF]
Biomimetics, 2023 Gait generation method is one of the important contents of snake robot motion control. Different gait generation methods produce completely different forms of control functions, so snake robots need more complicated programming logic and processes to ...
Chaoquan Tang +5 more
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Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU [PDF]
Sensors, 2018 A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant ...
Xu Zhao, Lihua Dou, Zhong Su, Ning Liu
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Bioinspired Design and Experimental Validation of an Aquatic Snake Robot [PDF]
BiomimeticsThis article presents the design, simulation, and experimental validation of a novel modular aquatic snake robot capable of surface locomotion. The modular structure allows each unit to function independently, facilitating ease of maintenance and ...
Giovanni Bianchi +3 more
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Snake-Like Robot Workspace Solving Method Based on Improved Monte Carlo Method [PDF]
Applied Bionics and BiomechanicsThe method is applicable for solving the obstacle avoidance workspace of a snake-like robot working on high-voltage transmission cables, based on an improved Monte Carlo method, to address the issues of uneven distribution of scattered points, difficulty
ZhiYong Yang +6 more
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Algebraic Structure and Poisson Integral Method of Snake-Like Robot Systems
Frontiers in Physics, 2021 The algebraic structure and Poisson's integral of snake-like robot systems are studied. The generalized momentum, Hamiltonian function, generalized Hamilton canonical equations, and their contravariant algebraic forms are obtained for snake-like robot ...
Fu Jing-Li, Xiang Chun, Meng Lei
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Study on Head Stabilization Control Strategy of Non-Wheeled Snake Robot Based on Inertial Sensor
Applied Sciences, 2023 In this paper, the head stabilization problem of the snake robot in planar motion is studied. When the snake robot performs a planar movement with an inchworm locomotion gait, the head controller of the snake robot swings up and down due to a fluctuation
Liming Bao +3 more
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Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables
Electronics Letters, 2021 Aiming at the gait control problem of a snake‐like inspection robot performing variable‐diameter spiral motion on high‐voltage cables, a gait generation method is proposed here, the snake‐like robot can adapt to the change in diameter when it is winding ...
Zhiyong Yang +5 more
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Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control [PDF]
Modeling, Identification and Control, 2008 This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait
Pål Liljebäck +2 more
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Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve
IEEE Access, 2020 In order to study the winding motion of a multi-joint snake-like robot with multi-degree of redundancy in plane, a motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is proposed in this paper.
Dongfang Li +3 more
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