Results 41 to 50 of about 15,050 (233)
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.
Kelasidi, Eleni +3 more
openaire +3 more sources
Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints [PDF]
, 2015 This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints.
Fumitoshi Matsuno +2 more
core +2 more sources
Annual Reviews in Control, 2017 The inspiration for snake robots comes from biological snakes. Snakes display superior mobility capabilities and can move over virtually any type of terrain, including narrow and confined spaces. They are good climbers, very efficient swimmers, and some snakes can even fly by jumping off branches and using their body to glide through the air.
openaire +2 more sources
Adaptive Transition Gait Planning of Snake Robot Based on Polynomial Interpolation Method
Actuators, 2022 This paper mainly studies the transition gait planning by updating the parameters of snack robot motion control function through ROS nodes, including a straight running gait into a turning gait.
Xiongding Liu, Guangjie Lin, Wu Wei
doaj +1 more source
IEEE Robotics & Automation Magazine, 2009 We have introduced the biomechanical research on snakes and developmental research on snake-like robots that we have been working on. We could not introduce everything we developed. There were also a smaller snake-like active endoscope; a large-sized snake-like inspection robot for nuclear reactor related facility, Koryu, 1 m in height, 3.5 m in length,
Shigeo Hirose, Hiroya Yamada
openaire +1 more source
GAN‐LSTM‐3D: An efficient method for lung tumour 3D reconstruction enhanced by attention‐based LSTM
CAAI Transactions on Intelligence Technology, EarlyView., 2023 Abstract Three‐dimensional (3D) image reconstruction of tumours can visualise their structures with precision and high resolution. In this article, GAN‐LSTM‐3D method is proposed for 3D reconstruction of lung cancer tumours from 2D CT images. Our method consists of three phases: lung segmentation, tumour segmentation, and tumour 3D reconstruction. Lung
Lu Hong +12 more
wiley +1 more source
A mechanical intelligence in assisting the navigation by a force feedback steering wheel for a snake rescue robot [PDF]
, 2004 We developed a snake rescue robot basing on the proposed mechanical intelligence. The mechanical intelligence is designed to avoid obstacles and to realize desired motions when the robot is navigated by a remote force feedback steering wheel interface ...
Gofuku, Akio +5 more
core +1 more source
The kinematics of hyper-redundant robot locomotion [PDF]
, 1995 This paper considers the kinematics of hyper-redundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits”.
Burdick, Joel W., Chirikjian, Gregory S.
core +1 more source
Applied Sciences, 2017 A snake changes its gait to adapt to different environments. A snake-like robot that is able to perform as many or more gaits than a real-life snake has the potential to successfully adapt to a range of environments, similar to a real-life snake. However,
Kundong Wang, Wencan Gao, Shugen Ma
doaj +1 more source
Discrete Dynamics in Nature and Society, 2021 This paper proposes a goal-directed locomotion method for a snake-shaped robot in 3D complex environment based on path-integral reinforcement learning. This method uses a model-free online Q-learning algorithm to evaluate action strategies and optimize ...
Qi Yongqiang +6 more
doaj +1 more source