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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.
Kristin Y. Pettersen
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Advances in Industrial Control, 2013 Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or ...
Kristin Y. Pettersen +2 more
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A Survey on Snake Robot Modeling and Locomotion [PDF]
Robotica, 2009 SUMMARY Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10–15 years, the published literature on snake robots has increased significantly.
Kristin Y. Pettersen +2 more
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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
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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
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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
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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 ...
G. Seeja +2 more
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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
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IEEE Robotics and 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,
Hiroya Yamada, Shigeo Hirose
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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