Thematische Bibliographien / Locomotion control of snake-like robots

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Auswahl der wissenschaftlichen Literatur zum Thema „Locomotion control of snake-like robots“

Autor: Grafiati

Veröffentlicht am 28. Juni 2021

Zuletzt aktualisiert am 5. Februar 2022

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Zeitschriftenartikel zum Thema "Locomotion control of snake-like robots"

Cao, Zhengcai, Dong Zhang, Biao Hu und Jinguo Liu. „Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator“. Complexity 2019 (21.01.2019): 1–13. http://dx.doi.org/10.1155/2019/8030374.

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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 optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot forward and along a desired path. The efficiency and accuracy of the proposed path following method is researched. In addition, a control framework that includes a CPG network, a locomotion efficiency optimization algorithm, and an adaptive path following method is designed to control snake-like robots move in different environments. Simulation and experimental results are presented to illustrate the performance of the proposed locomotion optimization method and adaptive path following controller for snake-like robots in complexity terrains.

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Kano, Takeshi, und Akio Ishiguro. „Decoding Decentralized Control Mechanism Underlying Adaptive and Versatile Locomotion of Snakes“. Integrative and Comparative Biology 60, Nr. 1 (26.03.2020): 232–47. http://dx.doi.org/10.1093/icb/icaa014.

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Abstract Snakes have no limbs and can move in various environments using a simple elongated limbless body structure obtained through a long-term evolutionary process. Specifically, snakes have various locomotion patterns, which they change in response to conditions encountered. For example, on an unstructured terrain, snakes actively utilize the terrain’s irregularities and move effectively by actively pushing their bodies against the “scaffolds” that they encounter. In a narrow aisle, snakes exhibit concertina locomotion, in which the tail part of the body is pulled forward with the head part anchored, and this is followed by the extension of the head part with the tail part anchored. Furthermore, snakes often exhibit three-dimensional (3-D) locomotion patterns wherein the points of ground contact change in a spatiotemporal manner, such as sidewinding and sinus-lifting locomotion. This ability is achieved possibly by a decentralized control mechanism, which is still mostly unknown. In this study, we address this aspect by employing a synthetic approach to understand locomotion mechanisms by developing mathematical models and robots. We propose a Tegotae-based decentralized control mechanism and use a 2-D snake-like robot to demonstrate that it can exhibit scaffold-based and concertina locomotion. Moreover, we extend the proposed mechanism to 3D and use a 3-D snake-like robot to demonstrate that it can exhibit sidewinding and sinus-lifting locomotion. We believe that our findings will form a basis for developing snake-like robots applicable to search-and-rescue operations as well as understanding the essential decentralized control mechanism underlying animal locomotion.

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Chang, Alexander H., und Patricio A. Vela. „Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots“. Robotica 37, Nr. 08 (05.02.2019): 1302–19. http://dx.doi.org/10.1017/s0263574718001522.

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SummaryThe unique frictional properties conferred by snake ventral scales inspired the engineering and fabrication of surrogate mechanisms for a robotic snake. These artificial, biologically inspired scales produce anisotropic body-ground forcing patterns with various locomotion surfaces. The benefits they confer to robotic snake-like locomotion were evaluated in experimental trials employing rectilinear, lateral undulation, and sidewinding gaits over several distinct surface types: carpet, inhomogeneous concrete and homogeneous concrete. Enhanced locomotive performance, with respect to net displacement and heading stability, was consistently measured in scenarios that utilized the engineered scales, over equivalent scenarios where the anisotropic effects of scales were absent.

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Nansai, Shunsuke, Takumi Yamato, Masami Iwase und Hiroshi Itoh. „Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer“. Applied Sciences 9, Nr. 19 (25.09.2019): 4012. http://dx.doi.org/10.3390/app9194012.

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The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation.

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Dear, Tony, Blake Buchanan, Rodrigo Abrajan-Guerrero, Scott David Kelly, Matthew Travers und Howie Choset. „Locomotion of a multi-link non-holonomic snake robot with passive joints“. International Journal of Robotics Research 39, Nr. 5 (27.01.2020): 598–616. http://dx.doi.org/10.1177/0278364919898503.

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Conventional approaches in prescribing controls for locomoting robots assume control over all input degrees of freedom (DOFs). Many robots, such as those with non-holonomic constraints, may not require or even allow for direct command over all DOFs. In particular, a snake robot with more than three links with non-holonomic constraints cannot achieve arbitrary configurations in all of its joints while simultaneously locomoting. For such a system, we assume partial command over a subset of the joints, and allow the rest to evolve according to kinematic chained and dynamic models. Different combinations of actuated and passive joints, as well as joints with dynamic elements such as torsional springs, can drastically change the coupling interactions and stable oscillations of joints. We use tools from nonlinear analysis to understand emergent oscillation modes of various robot configurations and connect them to overall locomotion using geometric mechanics and feedback control for robots that may not fully utilize all available inputs. We also experimentally verify observations and motion planning results on a physical non-holonomic snake robot.

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Mori, Makoto, und Shigeo Hirose. „Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 –“. Journal of Robotics and Mechatronics 18, Nr. 5 (20.10.2006): 521–28. http://dx.doi.org/10.20965/jrm.2006.p0521.

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We discuss basic control strategies of a three-dimensional snake-like robot. Introduced strategies are composed of shifting and rolling, and their superimposing control. This paper clarified the generation of control commands for these movements and verified the feasibility of our proposal in experiments using the three-dimensional snake-like robot “ACM-R3”.

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Transeth, Aksel Andreas, Kristin Ytterstad Pettersen und Pål Liljebäck. „A survey on snake robot modeling and locomotion“. Robotica 27, Nr. 7 (03.03.2009): 999–1015. http://dx.doi.org/10.1017/s0263574709005414.

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SUMMARYSnake 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. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

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Chang, Alexander H., und Patricio A. Vela. „Shape-centric modeling for control of traveling wave rectilinear locomotion on snake-like robots“. Robotics and Autonomous Systems 124 (Februar 2020): 103406. http://dx.doi.org/10.1016/j.robot.2019.103406.

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Yanagida, Takeru, Makito Kasahara und Masami Iwase. „Locomotion Control of Snake-like Robot on Geometrically Smooth Surface“. IFAC-PapersOnLine 48, Nr. 11 (2015): 162–67. http://dx.doi.org/10.1016/j.ifacol.2015.09.177.

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Sanfilippo, Filippo, Erlend Helgerud, Per Stadheim und Sondre Aronsen. „Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism“. Applied Sciences 9, Nr. 3 (24.01.2019): 396. http://dx.doi.org/10.3390/app9030396.

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Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven obstacle-aided locomotion (POAL). From a control point of view, achieving POAL with traditional rigidly-actuated robots is challenging because of the complex interaction between the snake robot and the immediate environment. To simplify the control complexity, compliant motion and fine torque control on each joint is essential. Accordingly, intrinsically elastic joints have become progressively prominent over the last years for a variety robotic applications. Commonly, elastic joints are considered to outperform rigid actuation in terms of peak dynamics, robustness, and energy efficiency. Even though a few examples of elastic snake robots exist, they are generally expensive to manufacture and tailored to custom-made hardware/software components that are not openly available off-the-shelf. In this work, Serpens, a newly-designed low-cost, open-source and highly-compliant multi-purpose modular snake robot with series elastic actuator (SEA) is presented. Serpens features precision torque control and stereoscopic vision. Only low-cost commercial-off-the-shelf (COTS) components are adopted. The robot modules can be 3D-printed by using Fused Deposition Modelling (FDM) manufacturing technology, thus making the rapid-prototyping process very economical and fast. A screw-less assembly mechanism allows for connecting the modules and reconfigure the robot in a very reliable and robust manner. The concept of modularity is also applied to the system architecture on both the software and hardware sides. Each module is independent, being controlled by a self-reliant controller board. The software architecture is based on the Robot Operating System (ROS). This paper describes the design of Serpens and presents preliminary simulation and experimental results, which illustrate its performance.

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Dissertationen zum Thema "Locomotion control of snake-like robots"

Kurtulmus, Ergin. „Locomotion And Control Of A Modular Snake Like Robot“. Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612533/index.pdf.

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In recent years, there has been a significant increase in the interest for snake like modular robots due to their superior locomotion capabilities in terms of versatility, adaptability and scalability. Passive wheeled planar snake like robots are a major category and they are being actively researched. Due to the nonholonomic constraints imposed on them, certain configurations lead to the singularity which must be avoided at all costs. Furthermore, it is vital to generate a locomotion pattern such that they can track a wide range of trajectories. All of these objectives must be accomplished smoothly and in an energy efficient manner. Studies indicate that meeting all of these requirements is a challenging problem. In this study, a novel form of the serpenoid curve is proposed in order to make the robot track arbitrary paths. A controller has been designed using the feedback linearization method. Afterwards, a new performance measure, considering both the efficiency and sustainability of the locomotion, has been proposed to evaluate the locomotion. Optimal parameters for the proposed serpenoid curve and the linear controller have been determined for efficient locomotion by running series of simulations. Relations between the locomotion performance, locomotion speed and eigenvalues of the linear controller have been demonstrated. Simulation results show striking differences between the locomotion by using the proposed serpenoid curve with optimal parameters and the locomotion by purely tracking a given path. Obtained results also indicate that the aforementioned requirements are met successfully and confirm the validity and consistency of the proposed performance measure.

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Kandhari, Akhil. „Control and Analysis of Soft Body Locomotion on a Robotic Platform“. Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961.

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Motyčková, Paulína. „Simulační modelování a řízení hadům podobných robotů“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-442848.

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This paper deals with the design of a robotic snake, its assembly, simulation using CoppeliaSim, and the testing of various methods for the control of robotic snakes (Serpentinoid, CPG). For individual control methods, the influence of selected parameters on the signals controlling the motorized joints of the robotic snake is observed, and their influence on the speed and energy consumption of the given mechanism is described.

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Bing, Zhenshan [Verfasser], Alois [Akademischer Betreuer] Knoll, Kai [Gutachter] Huang und Alois [Gutachter] Knoll. „Biological-inspired Hierarchical Control of a Snake-like Robot for Autonomous Locomotion / Zhenshan Bing ; Gutachter: Kai Huang, Alois Knoll ; Betreuer: Alois Knoll“. München : Universitätsbibliothek der TU München, 2019. http://d-nb.info/1189316587/34.

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Atakan, Baris. „3-d Grasping During Serpentine Motion With A Snake-like Robot“. Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606887/index.pdf.

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In this thesis, we introduce our lasso-type grasping scheme. This 3-D lasso-type grasping scheme, different from the previously performed grasping schemes which are either planar or fixed base, is the novelty of our approach where the snake robot grasps an object with any of its body links which are at close proximity to the object while undergoing its serpentine motion with the remaining links and dragging the grasped object. Since our snake robot has the pitch motion for every link, we can ensure that the links do not run into each other as they wrap around the object. A lasso-type power grasp is then possible for our 15-link snake robot as seen in the simulation results of this thesis. Furthermore we develop the kinematic and control models for lasso-type grasping and for dragging the grasped object to a desired state. This control model includes an adaptively changing feedback gain which prevents excessively large inputs to corrupt the serpentine locomotion control. According to our lasso-type grasping model, while the snake robot can grasp the object beginning with the any body link at close proximity of the object, the contact points can be controlled to generate the curvilinear grasping curve by using our lasso-type grasping procedure. For dragging the grasped object, we define a scheme which can determine the appropriate desired state to drag the grasped object to a desired position. The stability of the grasped object is important to resist the disturbance forces as well as the force closure grasping is important to counteract the disturbance force. To analyze the stability of the lasso-type grasping, we introduce a stability model of lasso-type grasping based on contact stiffness matrices that faces the snake to regrasp when gone unstable.

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Ryo, Ariizumi. „Analysis of parametric gaits and control of non-parametric gaits of snake robots“. 京都大学 (Kyoto University), 2015. http://hdl.handle.net/2433/199266.

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Ali, Shaukat. „Newton-Euler approach for bio-robotics locomotion dynamics : from discrete to continuous systems“. Phd thesis, Ecole des Mines de Nantes, 2011. http://tel.archives-ouvertes.fr/tel-00669588.

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This thesis proposes a general and unified methodological framework suitable for studying the locomotion of a wide range of robots, especially bio-inspired. The objective of this thesis is twofold. First, it contributes to the classification of locomotion robots by adopting the mathematical tools developed by the American school of geometric mechanics.Secondly, by taking advantage of the recursive nature of the Newton-Euler formulation, it proposes numerous efficient tools in the form of computational algorithms capable of solving the external direct dynamics and the internal inverse dynamics of any locomotion robot considered as a mobile multi-body system. These generic tools can help the engineers or researchers in the design, control and motion planning of manipulators as well as locomotion robots with a large number of internal degrees of freedom. The efficient algorithms are proposed for discrete and continuous robots. These methodological tools are applied to numerous illustrative examples taken from the bio-inspired robotics such as snake-like robots, caterpillars, and others like snake-board, etc.

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Marvi, Hamidreza. „The role of functional surfaces in the locomotion of snakes“. Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50223.

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Snakes are one of the world’s most versatile organisms, at ease slithering through rubble or climbing vertical tree trunks. Their adaptations for conquering complex terrain thus serve naturally as inspirations for search and rescue robotics. In a combined experimental and theoretical investigation, we elucidate the propulsion mechanisms of snakes on both hard and granular substrates. The focus of this study is on physics of snake interactions with its environment. Snakes use one of several modes of locomotion, such as slithering on flat surfaces, sidewinding on sand, or accordion-like concertina and worm-like rectilinear motion to traverse crevices. We present a series of experiments and supporting mathematical models demonstrating how snakes optimize their speed and efficiency by adjusting their frictional properties as a function of position and time. Particular attention is paid to a novel paradigm in locomotion, a snake’s active control of its scales, which enables it to modify its frictional interactions with the ground. We use this discovery to build bio-inspired limbless robots that have improved sensitivity to the current state of the art: Scalybot has individually controlled sets of belly scales enabling it to climb slopes of 55 degrees. These findings will result in developing new functional materials and control algorithms that will guide roboticists as they endeavor towards building more effective all-terrain search and rescue robots.

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CHUANG, YI-HSUN, und 莊佾勳. „Applying an Artificial Neuromolecula System to Various Locomotion Control of a Snake-like Robot“. Thesis, 2016. http://ndltd.ncl.edu.tw/handle/d9fpuk.

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碩士
國立雲林科技大學
資訊管理系
104
In recent snake-like robot research, it often use the best formula to drive the snake-like robot. But it doesn't let snake-like robot learn how to move by itself. There are a lot of external factors in real life caused it can't guarantee that snake-like robot all the best formula derived from the research which can apply in all circumstances. Therefore this study use Artificial neuromolecular system as learning mechanism.to generate angle values to control the snake robots. And set different goals, learning outcomes at different limit angles as the cornerstone, it can combine a lot of possible combinations when you need, so the snake robot can be capable of flexibility and fitness to reach any goal.

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Chen, Bo-Han, und 陳柏翰. „Robust adaptive fuzzy estimator-based tracking control of 5-DOFs human-like biped robot locomotion with internal models in human brain“. Thesis, 2011. http://ndltd.ncl.edu.tw/handle/51890069562168246114.

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碩士
國立清華大學
電機工程學系
99
近幾年來，機器人系統的控制問題已經廣泛的被研究。其中包括了系統動態分析、軌跡追蹤控制、機器人行走軌跡規劃以及如何在環境的影響下讓機器人完成被指派的任務等，都是重要的相關課題。除此之外，從生物的角度來探討控制問題也逐漸受到關注，像是人類如何完成自身動作的觀點在類人型雙足機器人的控制上提供了重要的參考。本篇文章提到了人類的感覺運動控制(Sensorimotor Control)主要由兩個控制力組成，即在順向迴圈(Feedforward Loop)方向的逆向控制力以及在內回授迴圈(Internal Feedback Loop)方向的回授控制力。我們將利用此觀點來建立五自由度類人型雙足機器人的強健追蹤控制。其中在人類大腦中具有適應性動態的逆向模型(Inverse Model)提供逆向控制力以順向的方式來補償受控系統大部分動態。另一方面，描述人類肌肉系統的內回授迴圈具有強健回授控制力以達到強健追蹤控制即使受到外部干擾以及受控系統不確定性的影響。再者，在受控系統狀態不可得知的情形下，在大腦中的順向模型(Forward Model)可透過感知的量測資訊來預測受控系統狀態以達到強健估測考量下的追蹤控制即使受到量測雜訊的影響。此外，本研究提出的控制架構可以轉換成求解含有線性矩陣不等式(Linear Matrix Inequality, LMI)限制條件的特徵值問題(Eigenvalue Problem, EVP)，而線性矩陣不等式則可以利用最佳化方法有效的求解。

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Bücher zum Thema "Locomotion control of snake-like robots"

Trimmer, Barry. Soft-bodied terrestrial invertebrates and robots. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0041.

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Studies of animal locomotion and its control have generally focused on species with articulated, stiff skeletons, largely ignoring the contributions of soft tissues. Attempts to create animal-like performance in robots illustrate the limitations of using rigid-body mechanics alone. There is a growing appreciation that soft structures are critical for producing robust and adaptable behaviors in complex environments. Studies of predominantly soft animals could help to accelerate our understanding of the biomechanical role of deformable materials and their control. This chapter focuses on our current understanding of locomotion in terrestrial soft animals. It highlights the critical distinction between purely hydrostatic systems that control movements by pressurization and those that can remain relatively soft and exploit stiff substrates (the environmental skeleton strategy). The final section describes biomimetic devices that have been inspired by both animal strategies to show how such biological solutions might be employed to build controllable, highly deformable mobile machines.

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Buchteile zum Thema "Locomotion control of snake-like robots"

Liljebäck, Pål, Kristin Y. Pettersen, Øyvind Stavdahl und Jan Tommy Gravdahl. „Hybrid Control of Obstacle-Aided Locomotion“. In Snake Robots, 239–63. London: Springer London, 2013. http://dx.doi.org/10.1007/978-1-4471-2996-7_12.

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Kano, Takeshi, Ryo Yoshizawa und Akio Ishiguro. „TEGOTAE-Based Control Scheme for Snake-Like Robots That Enables Scaffold-Based Locomotion“. In Biomimetic and Biohybrid Systems, 454–58. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-42417-0_46.

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Behn, Carsten, und Jonas Kräml. „Gait Transitions in Artificial Non-standard Snake-Like Locomotion Systems Using Adaptive Control“. In Dynamical Systems in Applications, 1–12. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-96601-4_1.

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Zahadat, Payam, David Johan Christensen, Serajeddin Katebi und Kasper Stoy. „Sensor-Coupled Fractal Gene Regulatory Networks for Locomotion Control of a Modular Snake Robot“. In Springer Tracts in Advanced Robotics, 517–30. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-32723-0_37.

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Vonwirth, Patrick, Atabak Nejadfard und Karsten Berns. „Biologically Inspired Bipedal Locomotion—From Control Concept to Human-Like Biped“. In Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, 3–14. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-9267-2_1.

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Koopaee, Mohammadali Javaheri, Cid Gilani, Callum Scott und XiaoQi Chen. „Bio-Inspired Snake Robots“. In Handbook of Research on Biomimetics and Biomedical Robotics, 246–75. IGI Global, 2018. http://dx.doi.org/10.4018/978-1-5225-2993-4.ch011.

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This chapter concerns modelling and control of snake robots. Specifically, the authors' main goal is introducing some of the fundamental design, modelling, and control approaches introduced for efficient snake robot locomotion in cluttered environments. This is a critical topic because, unlike locomotion in flat surfaces, where pre-specified gait equations can be employed, for locomotion in unstructured environment more sophisticated control approaches should be used to achieve intelligent and efficient mobility. To reach this goal, shape-based modelling approaches and a number of available control schemes for operation in unknown environments are presented, which hopefully motivates more scholars to start working on snake robots. Some ideas about future research plans are also proposed, which can be helpful for fabricating a snake robot equipped with the necessary features for operation in a real-world environment.

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Nunez, Victor, Nelly Nadjar-Gauthier, Kazuhito Yokoi, Pierre Blazevic und Olivier Stasse. „Inertial Forces Posture Control for Humanoid Robots Locomotion“. In Humanoid Robots, Human-like Machines. I-Tech Education and Publishing, 2007. http://dx.doi.org/10.5772/4802.

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Xiaodong, Wu, und Ma Shugen. „CPG-Based Control of Serpentine Locomotion of a Snake-Like Robot“. In Biologically Inspired Robotics, 13–32. CRC Press, 2017. http://dx.doi.org/10.1201/b11365-2.

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Zimmermann, Klaus, Igor Zeidis, Joachim Steigenberger, Carsten Behn, Valter Boehm, Jana Popp, Emil Kolev und Vera A. „Worm-like Locomotion Systems (WLLS) - Theory, Control and Prototypes“. In Climbing and Walking Robots: towards New Applications. I-Tech Education and Publishing, 2007. http://dx.doi.org/10.5772/5093.

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Kuyucu, Tüze, Ivan Tanev und Katsunori Shimohara. „Efficient Evolution of Modular Robot Control via Genetic Programming“. In Engineering Creative Design in Robotics and Mechatronics, 59–85. IGI Global, 2013. http://dx.doi.org/10.4018/978-1-4666-4225-6.ch005.

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In Genetic Programming (GP), most often the search space grows in a greater than linear fashion as the number of tasks required to be accomplished increases. This is a cause for one of the greatest problems in Evolutionary Computation (EC): scalability. The aim of the work presented here is to facilitate the evolution of control systems for complex robotic systems. The authors use a combination of mechanisms specifically designed to facilitate the fast evolution of systems with multiple objectives. These mechanisms are: a genetic transposition inspired seeding, a strongly-typed crossover, and a multiobjective optimization. The authors demonstrate that, when used together, these mechanisms not only improve the performance of GP but also the reliability of the final designs. They investigate the effect of the aforementioned mechanisms on the efficiency of GP employed for the coevolution of locomotion gaits and sensing of a simulated snake-like robot (Snakebot). Experimental results show that the mechanisms set forth contribute to significant increase in the efficiency of the evolution of fast moving and sensing Snakebots as well as the robustness of the final designs.

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Konferenzberichte zum Thema "Locomotion control of snake-like robots"

„EFFICIENT LOCOMOTION ON NON-WHEELED SNAKE-LIKE ROBOTS“. In 7th International Conference on Informatics in Control, Automation and Robotics. SciTePress - Science and and Technology Publications, 2010. http://dx.doi.org/10.5220/0002945902460251.

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Qiao, Guifang, Guangming Song, Ying Zhang, Jun Zhang und Yuya Li. „Head stabilization control for snake-like robots during lateral undulating locomotion“. In 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2014. http://dx.doi.org/10.1109/robio.2014.7090362.

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Kano, Takeshi, Takahide Sato, Ryo Kobayashi und Akio Ishiguro. „Decentralized control of multi-articular snake-like robot for efficient locomotion“. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011). IEEE, 2011. http://dx.doi.org/10.1109/iros.2011.6048302.

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Kano, T., T. Sato, R. Kobayashi und A. Ishiguro. „Decentralized control of multi-articular snake-like robot for efficient locomotion“. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011). IEEE, 2011. http://dx.doi.org/10.1109/iros.2011.6094712.

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Kasahara, Fumitoshi, Takeru Yanagida und Masami Iwase. „Locomotion control of snake-like robot considering side-slip“. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE). IEEE, 2017. http://dx.doi.org/10.23919/sice.2017.8105710.

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Chang, A. H., M. M. Serrano und P. A. Vela. „Shape-centric modeling of traveling wave rectilinear locomotion for snake-like robots“. In 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE, 2016. http://dx.doi.org/10.1109/cdc.2016.7799433.

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Sastra, Jimmy, Willy Giovanni Bernal Heredia, Jonathan Clark und Mark Yim. „A Biologically-Inspired Dynamic Legged Locomotion With a Modular Reconfigurable Robot“. In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2402.

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Reconfigurable Modular robots can adapt their morphologies and their gaits for locomotion through different environments, whether like a snake for moving through constrained spaces or in a wheel-like shape for efficient and fast rolling on flat terrain. This paper proposes a new, scalable biologically-inspired legged style of locomotion for this class of robots. Passively compliant leg attachments are utilized to achieve a dynamic running gait using body articulation. A dynamic simulation as well as experimental data showing that we have achieved stable dynamic locomotion is presented. Although the robot design and control strategy are, in principle, scalable to any number of leg pairs, results are given for a hexapedal robot configuration. This prototype represents the first example of dynamic legged locomotion driven only by body articulation.

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Sato, Takahide, Takeshi Kano, Ryo Kobayashi und Akio Ishiguro. „Snake-like robot driven by decentralized control scheme for scaffold-based locomotion“. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012). IEEE, 2012. http://dx.doi.org/10.1109/iros.2012.6385930.

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Javaheri Koopaee, Mohammadali, Christopher Pretty, Koen Classens und XiaoQi Chen. „Dynamical Modelling and Control of Snake-Like Motion in Vertical Plane for Locomotion in Unstructured Environments“. In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-97227.

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Abstract This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment.

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Guo, Xian, ShuGen Ma, Bin Li und MingHui Wang. „Locomotion control of a snake-like robot based on velocity disturbance“. In 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2014. http://dx.doi.org/10.1109/robio.2014.7090393.

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