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.
Øyvind Stavdahl, Stavdahl Øyvind
exaly +4 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
exaly +4 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 +1 more
exaly +4 more sources
Locomotion Efficiency Optimization of Biologically Inspired Snake Robots [PDF]
Applied Sciences (Switzerland), 2018 Snake robots constitute bio-inspired solutions that have been studied due to their ability to move in challenging environments where other types of robots, such as wheeled or legged robots, usually fail.
Eleni Kelasidi +2 more
exaly +4 more sources
Snake Robots for Surgical Applications: A Review [PDF]
Robotics, 2022 Although substantial advancements have been achieved in robot-assisted surgery, the blueprint to existing snake robotics predominantly focuses on the preliminary structural design, control, and human–robot interfaces, with features which have not been ...
Jenna Seetohul +2 more
exaly +4 more sources
Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities † [PDF]
Applied Sciences (Switzerland), 2017 In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are ...
, Jon Azpiazu, Aksel A Transeth
exaly +4 more sources
Design and Experimental Validation of a Multimodal Snake Robot with Elliptical Wheels. [PDF]
Biomimetics (Basel)Snake 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
Xiao X +7 more
europepmc +2 more sources
Simultaneous Localization and Mapping Methods for Snake-like Robots Based on Gait Adjustment. [PDF]
Biomimetics (Basel)Snake 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 ...
Tang C +5 more
europepmc +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