Results 51 to 60 of about 349,585 (247)

Adaptive Robust RBF-NN Nonsingular Terminal Sliding Mode Control Scheme for Application to Snake Robot’s Head for Image Stabilization

Applied Sciences, 2023
Image stabilization is important for snake robots to be used as mobile robots. In this paper, we propose an adaptive robust RBF neural network nonsingular terminal sliding mode control to reduce swinging in the snake robot’s head while it is being driven.
Sung-Jae Kim, Jin-Ho Suh
doaj   +1 more source

Snake robot controlled by biomimetic CPGs

Proceedings of International Conference on Artificial Life and Robotics, 2019
Locomotion is one of the most basic abilities in animals. Neurobiologists have established that locomotion results from the activity of half-center oscillators that provides alternation of bursts. Central Pattern Generators (CPGs) are neural networks capable of producing rhythmic patterned outputs without rhythmic sensory or central input. We propose a
Blanchard, Damien, Aihara, Kazuyuki, Levi, Timothée   +2 more
openaire   +1 more source

Advanced Flexible Robotic Systems for the Early Diagnosis and Treatment of Cancer and Cardiovascular Diseases

Advanced Robotics Research, EarlyView.
Flexible surgical robots are advancing minimally invasive interventions for cardiovascular diseases and cancer by enabling precise navigation through complex, submillimeter anatomical pathways. This review highlights recent innovations in actuation, bio‐integrated sensing, AI‐assisted control, and friction‐reduction technologies, discusses current ...
Hermione Truong, Chi Cong Nguyen, Hannah Thuy Truong, Kefan Zhu, Adrienne Ji, James Davies, Emanuele Nicotra, Bibhu Sharma, Jingjing Wan, Patrick Pruscino, Shing Wai Wong, Hoang‐Phuong Phan, Phuoc Thien Phan, Nigel H. Lovell, Thanh Nho Do   +14 more
wiley   +1 more source

Enhancing Amphibious Flipper‐Based Locomotion Through Terrain‐Dependent Bayesian Optimization of Central Pattern Generator Control

Advanced Robotics Research, EarlyView.
A sea turtle‐inspired amphibious robot uses simulation‐guided optimization to adapt its flipper coordination to different environments. Sensitivity analysis and multiobjective Bayesian optimization identify terrain‐dependent controllers that are validated on hardware.
Nnamdi C. Chikere, Yasemin Ozkan‐Aydin
wiley   +1 more source

Analytical Modeling and Control of Rectilinear Snake Robots

, 2017
This paper deals with the analytical modeling and control of rectilinear snake robots. During recent times snake robots have created much interest among researchers.
Saravanan S.V., Sindhuja Sankaran
core   +1 more source

XeraBorg: Neural Control of Tail‐Flick Escape for Backward Propulsion in Cyborg Crayfish

Advanced Robotics Research, EarlyView.
This work presents the first controlled tail‐flick propulsion method for the cyborg Cherax quadricarinatus. Comprehensive experiments establish a foundational framework for using the crayfish's natural escape mechanism as a locomotion strategy, expanding its potential as an underwater and amphibious mobile robot.
H. Nhan Le, Oscar J. Davis, Lachlan Fitzgerald, Robbie Wilson, Christofer Clemente, P. Ross McAree, T. Nho Do, T. Thang Vo‐Doan   +7 more
wiley   +1 more source

Sigmoid transition approach of the central pattern generator-based controller for the snake-like robot

International Journal of Advanced Robotic Systems, 2017
Snake-like robots can perform various types of locomotion in the complex environments. In this article, a novel two-layered central pattern generator-based controller is proposed for controlling snake-like robots.
Guifang Qiao, Xiulan Wen, Jian Lin, Dongxia Wang, Zhong Wei   +4 more
doaj   +1 more source

HISSbot: Sidewinding with a Soft Snake Robot

2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to produce movement. Prior work on soft snake robots has primarily focused on planar gaits, such as undulation.
Farhan Rozaidi, Emma Waters, Olivia Dawes, Jennifer Yang, Joseph R. Davidson, Ross L. Hatton   +5 more
openaire   +3 more sources

A Worm‐Inspired Origami Robot with Multimodal Locomotion for Adaptive Mobility in Complex Pipeline Environments

Advanced Science, EarlyView.
An origami worm‐inspired robot achieves multimodal locomotion in confined pipelines through mechatronic integration that embeds actuation, control, and communication within each origami module. Large, reversible configuration and dimensional changes enable 25 gaits synthesized by a unified framework across peristaltic, inchworm, and wheel‐rolling modes
Qiwei Zhang, Kangning Tan, Zihan He, Hongsen Pang, Yanjie Wang, Hongbin Fang, Jian Xu   +6 more
wiley   +1 more source

Fundamental properties of snake robot locomotion [PDF]

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
This paper presents a set of fundamental properties of the velocity of a snake robot conducting lateral undulation on a planar surface. In particular, the derived properties state that the average forward velocity of the snake robot 1) is proportional to the squared amplitude of the sinusoidal motion of each joint of the robot, 2) is proportional to ...
Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl   +3 more
openaire   +3 more sources