Improved Jacobian matrix estimation applied to snake robots [PDF]
Frontiers in Robotics and AI, 2023 Two manipulator Jacobian matrix estimators for constrained planar snake robots are developed and tested, which enables the implementation of Jacobian-based obstacle-aided locomotion (OAL) control schemes.
Jostein Løwer +2 more
doaj +2 more sources
A Reinforcement Learning-Based Strategy of Path Following for Snake Robots with an Onboard Camera [PDF]
Sensors, 2022 For path following of snake robots, many model-based controllers have demonstrated strong tracking abilities. However, a satisfactory performance often relies on precise modelling and simplified assumptions.
Lixing Liu, Xian Guo, Yongchun Fang
doaj +2 more sources
Collaborative robots (cobots) for disaster risk resilience: a framework for swarm of snake robots in delivering first aid in emergency situations [PDF]
Frontiers in Robotics and AICobots are robots that are built for human-robot collaboration (HRC) in a shared environment. In the aftermath of disasters, cobots can cooperate with humans to mitigate risks and increase the possibility of rescuing people in distress.
Syed Kumayl Raza Moosavi +3 more
doaj +2 more sources
Design and Experimental Validation of a Multimodal Snake Robot with Elliptical Wheels [PDF]
BiomimeticsSnake robots are characterized by their flexibility and environmental adaptability, achieved through various optimized gaits. However, their forward propulsion still requires improvement. This challenge can be addressed by integrating wheels or legs, but
Xuan Xiao +7 more
doaj +2 more sources
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
doaj +2 more sources
Visual-Aided Obstacle Climbing by Modular Snake Robot [PDF]
SensorsSnake robots, also known as apodal robots, are among the most common and versatile modular robots. Primarily due to their ability to move in different patterns, they can evolve in scenarios with several constraints, some of them hardly accessible to ...
Carla Cavalcante Koike +6 more
doaj +2 more sources
Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting
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
doaj +1 more source
Self-adaptive rolling motion for snake robots in unstructured environments based on torque control
Biomimetic Intelligence and Robotics, 2023 Snake robots have great potential for exploring and operating in challenging unstructured environments, such as rubble, caves, and narrow pipelines. However, due to the complexity and unpredictability of unstructured environments, designing a controller ...
Shihao Ma +7 more
doaj +1 more source
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
openaire +2 more sources
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