Results 11 to 20 of about 3,305 (267)
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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A Survey on Snake Robot Locomotion
IEEE Access, 2022 Snake robots have been a topic of discussion among researchers for decades. They are potentially strong enough to bring substantial contributions to the fields which are unsafe/ narrow/ dirty/ hard reachable to human operators, such as inspections, rescue missions, firefighting, etc. Though the inventions of the wheel and legged mechanisms are amazing,
G. Seeja +2 more
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Modeling of underwater snake robots [PDF]
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014 Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents a model of the kinematics and dynamics of a planar, underwater snake robot aimed at control design.
Eleni Kelasidi +3 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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Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads
Micromachines, 2022 Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF).
Long Huang +3 more
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International Journal of Advanced Robotic Systems, 2019 Aiming at the problem of trajectory tracking between joints of the multi-joint snake-like robot in the flow fields, a trajectory tracking control law proposed based on the improved snake-like curve of a multi-joint snake-like robot to avoid obstacles in ...
Dongfang Li +3 more
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Reconstruction of Backbone Curves for Snake Robots [PDF]
IEEE Robotics and Automation Letters, 2021 Accepted for publication in IEEE RA ...
Tianyu Wang 0010 +7 more
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Actuators, 2023 This paper studies the target tracking control strategy of a snake robot and proposes an adaptive sliding mode control method. The strategy ensures the robot follows the target path by controlling the joint angle through feedback, pushing the robot to ...
Zhifan Liu +3 more
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