Results 31 to 40 of about 11,105 (243)
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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A Muscle-Driven Mechanism for Locomotion of Snake-Robots
Automation, 2021 This paper presents the concept of muscle-driven locomotion for planar snake robots, which combines the advantages of both rigid and soft robotic approaches to enhance the performance of snake robot locomotion.
Marcela Lopez, Mahdi Haghshenas-Jaryani
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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
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Simplified motion modeling for snake robots [PDF]
2012 IEEE International Conference on Robotics and Automation, 2012 We present a general method of estimating a snake robot's motion over flat ground using only knowledge of the robot's shape changes over time. Estimating world motion of snake robots is often difficult because of the complex way a robot's cyclic shape changes (gaits) interact with the surrounding environment.
Enner, Florian +2 more
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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.
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Complexity, 2019 This work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the ...
Zhengcai Cao +3 more
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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
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Frontiers in Robotics and AI, 2022 Underwater snake robots have received attention because of their unique mechanics and locomotion patterns. Given their highly redundant degrees of freedom, designing an energy-efficient gait has been a main challenge for the long-term autonomy of ...
Chu Zheng +2 more
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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
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Arboreal concertina locomotion of snake robots on cylinders
International Journal of Advanced Robotic Systems, 2017 This article proposes a novel gait on cylinders for a snake robot as well as arboreal concertina locomotion gait, including the generation method. The gait on the cylinder of a snake robot is a kind of spatial motion planning that is difficult in manual ...
Chaoquan Tang +3 more
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