Results 11 to 20 of about 15,050 (233)
ReQuBiS - Reconfigurable Quadrupedal-Bipedal Snake Robots [PDF]
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021 The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited for structured environments such as stairs.
Zade, Harshad +5 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
doaj +1 more source
IRIS: Integrated Robotic Intraocular Snake [PDF]
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015 Retinal surgery is one of the most technically challenging surgical disciplines. Many robotic systems have been developed to enhance the surgical capabilities. However, very few of them provide the surgeon the dexterity within the patient's eye to enable more flexible, more advanced surgical procedures.
Xingchi, He +4 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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Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy [PDF]
, 2016 We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online.
Kazuo Tanaka +2 more
core +2 more sources
Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration [PDF]
, 2018 This paper presents a method for designing the gait of a snake robot that moves in a complicated environment. We propose a method for expressing the target form of a snake robot by connecting curve segments whose curvature and torsion are already known ...
Fumitoshi Matsuno +2 more
core +2 more sources
Improved Integrated Robotic Intraocular Snake
2020 International Symposium on Medical Robotics (ISMR), 2020 Retinal surgery can be performed only by surgeons possessing advanced surgical skills because of the small, confined intraocular space, and the restricted free motion of instruments in contact with the sclera. Snake-like robots could be essential for use in retinal surgery to overcome this problem.
Makoto, Jinno, Iulian, Iordachita
openaire +3 more sources
A snake-based scheme for path planning and control with constraints by distributed visual sensors [PDF]
, 2013 YesThis paper proposes a robot navigation scheme using wireless visual sensors deployed in an environment. Different from the conventional autonomous robot approaches, the scheme intends to relieve massive on-board information processing required by ...
Aguiar +26 more
core +3 more sources
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
doaj +1 more source
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
doaj +1 more source