Results 21 to 30 of about 15,050 (233)
Control of a Snake Robot for Ascending and Descending Steps [PDF]
, 2015 This paper proposes control method for a snake robot to ascend and descend steps. In a multiplane step environment, it is necessary for locomotion to transfer from one plane to another.
Kazuo Tanaka, Motoyasu Tanaka
core +2 more sources
Stability analysis of snake robot locomotion based on Poincaré maps [PDF]
, 2015 — This paper presents an analysis of snake locomotion that explains how non-uniform viscous ground friction conditions enable snake robots to locomote forward on a planar surface.
Jan Tommy Gravdahl +3 more
core +3 more sources
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
doaj +1 more source
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
doaj +1 more source
International Journal for Research in Applied Science and Engineering Technology, 2022 Abstract: Every animal on earth has its own distinct feature and is capable of surviving on its own. Throughout history, humans have been inspired by the characteristics of animals to solve mankind's challenges. Reptiles possess various characteristics which can be used to solve societal issues when imparted in the form of a robot.
Rinku Kalsi +4 more
openaire +1 more source
Singularity Analysis of a Snake Robot and an Articulated Mobile Robot With Unconstrained Links [PDF]
, 2016 In this paper, we analyze the conditions related to singular configurations with unconstrained links and present related theorems and lemmas for a snake robot and an articulated mobile robot.
Kazuo Tanaka, Motoyasu Tanaka
core +2 more sources
Robotics, 2023 This paper presents a study of energy efficiency and kinematic-based optimal design locomotion of a pneumatic artificial muscle (PAM)-driven snake-like robot. Although snake-like robots have several advantages over wheeled and track-wheeled mobile robots,
Marcela Lopez, Mahdi Haghshenas-Jaryani
doaj +1 more source
Shape sensing of miniature snake-like robots using optical fibers [PDF]
, 2017 Snake like continuum robots are increasingly used for minimally invasive surgery. Most robotic devices of this sort that have been reported to date are controlled in an open loop manner. Using shape sensing to provide closed loop feedback would allow for
Berthet-Rayne, P +5 more
core +1 more source
Generalized Design, Modeling and Control Methodology for a Snake-like Aerial Robot
Sensors, 2023 Snake-like robots have been developing in recent decades, and various bio-inspired ideas are deployed in both the mechanical and locomotion aspects.
Moju Zhao, Takuzumi Nishio
doaj +1 more source
An evaluation of plume tracking as a strategy for gas source localization in turbulent wind flows [PDF]
, 2019 Gas source localization is likely the most direct application of a mobile robot endowed with gas sensing capabilities. Multiple algorithms have been proposed to locate the gas source within a known environment, ranging from bio-inspired to probabilistic ...
Gonzalez-Jimenez, Antonio Javier +2 more
core +1 more source