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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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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Simultaneous Localization and Mapping Methods for Snake-like Robots Based on Gait Adjustment [PDF]
BiomimeticsSnake robots require autonomous localization and mapping capabilities for field applications. However, the characteristics of their motion, such as large turning angles and fast rotation speeds, can lead to issues like drift or even failure in ...
Chaoquan Tang +5 more
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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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Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method [PDF]
Applied Sciences, 2018 A snake robot has to raise its head to acquire a wide visual space for planning complex tasks such as inspecting unknown environments, tracking a flying object and acting as a manipulator with its raising part.
Xiaobo Zhang +3 more
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Generation of Snake Robot Locomotion Patterns Using Genetic Algorithm [PDF]
한국정밀공학회지, 2021 This paper presents a novel method of designing an efficient locomotion pattern generating algorithm for snake robots by a genetic algorithm (GA). In search and rescue operations in disaster areas, a snake robot requires multiple locomotion patterns.
Juhyun Pyo +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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