Journal articles: 'Locomotion control of snake-like robots'

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Cao, Zhengcai, Dong Zhang, Biao Hu, and Jinguo Liu. "Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator." Complexity 2019 (January 21, 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, and Akio Ishiguro. "Decoding Decentralized Control Mechanism Underlying Adaptive and Versatile Locomotion of Snakes." Integrative and Comparative Biology 60, no. 1 (March 26, 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., and Patricio A. Vela. "Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots." Robotica 37, no. 08 (February 5, 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, and Hiroshi Itoh. "Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer." Applied Sciences 9, no. 19 (September 25, 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, and Howie Choset. "Locomotion of a multi-link non-holonomic snake robot with passive joints." International Journal of Robotics Research 39, no. 5 (January 27, 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, and Shigeo Hirose. "Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 –." Journal of Robotics and Mechatronics 18, no. 5 (October 20, 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, and Pål Liljebäck. "A survey on snake robot modeling and locomotion." Robotica 27, no. 7 (March 3, 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., and Patricio A. Vela. "Shape-centric modeling for control of traveling wave rectilinear locomotion on snake-like robots." Robotics and Autonomous Systems 124 (February 2020): 103406. http://dx.doi.org/10.1016/j.robot.2019.103406.

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Yanagida, Takeru, Makito Kasahara, and Masami Iwase. "Locomotion Control of Snake-like Robot on Geometrically Smooth Surface." IFAC-PapersOnLine 48, no. 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, and 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, no. 3 (January 24, 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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Chernousko, Felix. "Locomotion of multibody robotic systems: Dynamics and optimization." Theoretical and Applied Mechanics 45, no. 1 (2018): 17–33. http://dx.doi.org/10.2298/tam171017001c.

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Locomotion of multibody systems in resistive media can be based on periodic change of the system configuration. The following types of mobile robotic systems are examined in the paper: multilink snake-like systems; multibody systems in quasi-static motion; systems consisting of several interacting bodies; fish-like, frog-like, and boat-like systems swimming in fluids; systems containing moving internal masses. Dynamics of these systems subjected to various resistance forces, both isotropic and anisotropic, are investigated, including dry friction forces obeying Coulomb?s law and forces directed against the velocity of the moving body and proportional to the velocity value or its square. Possible modes of locomotion and control algorithms are discussed. Optimization for various types of mobile robots is considered. Optimal values of geometrical and mechanical parameters as well as optimal controls are obtained that provide the maximum locomotion speed or minimum energy consumption. Results of experiments and computer simulation are discussed.

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Qiao, Guifang, Ying Zhang, Xiulan Wen, Zhong Wei, and Junyu Cui. "Triple-layered central pattern generator-based controller for 3D locomotion control of snake-like robots." International Journal of Advanced Robotic Systems 14, no. 6 (November 2017): 172988141773810. http://dx.doi.org/10.1177/1729881417738101.

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Wu, Xiaodong, and Shugen Ma. "CPG-based control of serpentine locomotion of a snake-like robot." Mechatronics 20, no. 2 (March 2010): 326–34. http://dx.doi.org/10.1016/j.mechatronics.2010.01.006.

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O, Obe Olumide, and Ayogu Thomas O. "Locomotion Control Framework for Snake-like Robot using Deep Reinforcement Learning." International Journal of Computer Trends and Technology 69, no. 7 (July 25, 2021): 19–23. http://dx.doi.org/10.14445/22312803/ijctt-v69i7p103.

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Wang, Gang, Xi Chen, and Shi-Kai Han. "Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141772344. http://dx.doi.org/10.1177/1729881417723440.

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Although quite a few central pattern generator controllers have been developed to regulate the locomotion of terrestrial bionic robots, few studies have been conducted on the central pattern generator control technique for amphibious robots crawling on complex terrains. The present article proposes a central pattern generator and feedforward neural network-based self-adaptive gait control method for a crab-like robot locomoting on complex terrain under two reflex mechanisms. In detail, two nonlinear ordinary differential equations are presented at first to model a Hopf oscillator with limit cycle effects. Having Hopf oscillators as the basic units, a central pattern generator system is proposed for the waveform-gait control of the crab-like robot. A tri-layer feedforward neural network is then constructed to establish the one-to-one mapping between the central pattern generator rhythmic signals and the joint angles. Based on the central pattern generator system and feedforward neural network, two reflex mechanisms are put forward to realize self-adaptive gait control on complex terrains. Finally, experiments with the crab-like robot are performed to verify the waveform-gait generation and transition performances and the self-adaptive locomotion capability on uneven ground.

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Hopkins, Michael, Robert Griffin, and Alexander Leonessa. "Compliant Locomotion." Mechanical Engineering 137, no. 06 (June 1, 2015): S12—S16. http://dx.doi.org/10.1115/1.2015-jun-6.

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This article describes benefits of model-based approach in developing humanoids and presents experimental results as well. Regardless of the chosen actuation strategy, the design of humanoid locomotion controllers is greatly complicated by the underactuated and nonlinear nature of the associated multibody dynamics. Drawing inspiration from biology, researchers have begun to incorporate passive mechanical compliance into the design of legged robots, often by adding spring elements in series with the robot’s actuators. First introduced by the MIT Leg Laboratory, series elastic actuators (SEAs) have been shown to improve the fidelity and stability of closed-loop force controllers while simultaneously increasing shock tolerance. The chapter shows an example SEA utilized in the design of THOR, a compliant humanoid robot developed at Virginia Tech. Despite new advancements, several challenges remain before humanoids can be fielded in real-world applications that require a high degree of mobility. Model-based control approaches could greatly benefit from techniques found in the robust and adaptive control literature. The field is also interested in moving towards more efficient, human-like locomotion using biologically-inspired control strategies.

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OTAKI, Noriyuki, Takeshi KANO, and Akio ISHIGURO. "Decentralized Control for Snake-like Robot That Can Reproduce Versatile Locomotion Patterns." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 2A1—K04. http://dx.doi.org/10.1299/jsmermd.2020.2a1-k04.

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Sarrafan, Siavash, and Alireza Akbarzadeh. "A New Method for Precision of a Serpentine Snake-Like Robot." Applied Mechanics and Materials 232 (November 2012): 377–82. http://dx.doi.org/10.4028/www.scientific.net/amm.232.377.

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In this paper, a planar snake-like robot travelling in serpentine locomotion is considered. A method is presented where structural and gait control parameters are used to obtain the minimum snake-robot positional error, geometrical error. Two structural parameters, length and mass of each link as well as two control parameters, initial winding angle (α0) and arc length (s) are considered. Each of the four input parameters is examined at five different levels. The method uses Taguchi experimental techniques and analyzes effects of uncertainties by means of adding noise to the robot parameters. Significance of the input parameters is also determined using Analysis of Variance.

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Nor, Norzalilah Mohamad, and Shugen Ma. "1P1-B07 CPG-based Locomotion Control of a Snake-like Robot for Passing through a Variable Width of Path(Smart Mechanism "sMechanism" and its Control)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _1P1—B07_1—_1P1—B07_4. http://dx.doi.org/10.1299/jsmermd.2014._1p1-b07_1.

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RADKHAH, KATAYON, CHRISTOPHE MAUFROY, MORITZ MAUS, DORIAN SCHOLZ, ANDRE SEYFARTH, and OSKAR VON STRYK. "CONCEPT AND DESIGN OF THE BIOBIPED1 ROBOT FOR HUMAN-LIKE WALKING AND RUNNING." International Journal of Humanoid Robotics 08, no. 03 (September 2011): 439–58. http://dx.doi.org/10.1142/s0219843611002587.

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Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (such as walking and running) and control paradigms (such as flexible combination of feedforward and feedback controls strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferring this knowledge into a humanoid robot, the design and implementation of the first of a planned series of biologically inspired, compliant, and musculoskeletal robots is presented in this paper. Its three-segmented legs are actuated by compliant mono- and biarticular structures, which mimic the main nine human leg muscle groups, by applying series elastic actuation consisting of cables and springs in combination with electrical actuators. By means of this platform, we aim to transfer versatile human locomotion abilities, namely running and later on walking, into one humanoid robot design. First experimental results for passive rebound, as well as push-off with active knee and ankle joints, and synchronous and alternate hopping are described and discussed. BioBiped1 will serve for further evaluation of the validity of biomechanical concepts for humanoid locomotion.

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Kırbış, Ayşe, and Murat Reis. "Design of a snake-like swimming mechanism based on wave propagation in a vibrating cantilever beam." Academic Perspective Procedia 2, no. 3 (November 22, 2019): 392–99. http://dx.doi.org/10.33793/acperpro.02.03.17.

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In this study a locomotion mechanism which is similar to snake and fish swimming has been developed by using the natural vibration behavior of a simple cantilever beam (thin metal film). The swimming locomotion of the mechanism that is driven by wave propagation motion of the metal film has been confirmed by experiments. A metal cantilever beam (metal film), which is forced to vibrate at natural frequency by using a simple micro vibration motor, generates a propelling force, such as a fish fin that fluctuates in the liquid. And in this way, the swimming locomotion is provided in the specified directions depending on the orientation of the beam. In this way, it is aimed to develop an innovative and low energy consumption locomotion mechanism. The effects of design variables such as beam length and width, which effect the beam's natural frequency and locomotion performance, have been experimentally investigated on various test prototypes. The direction control and maneuverability of the robot can be improved by adding a second cantilever beam. Analytical calculations and experimental results showed the applicability of the proposed approach and the design. The locomotion mechanism introduced in the study has the potential to be used in micro robotic applications with its maneuverability and low energy consumption features.

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IWAKI, Takuya, Tomoaki NAKAMURA, and Kensuke TAKITA. "1P1-Q03 A Study on Optimization Serpentine Locomotion Control for Snake-like Robot for Study." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _1P1—Q03_1—_1P1—Q03_3. http://dx.doi.org/10.1299/jsmermd.2015._1p1-q03_1.

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Yao, Jianjun, Shuang Gao, Guilin Jiang, Thomas L. Hill, Han Yu, and Dong Shao. "Screw theory based motion analysis for an inchworm-like climbing robot." Robotica 33, no. 08 (April 29, 2014): 1704–17. http://dx.doi.org/10.1017/s0263574714001003.

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SUMMARYTo obtain better performance on unstructured environments, such as in agriculture, forestry, and high-altitude operations, more and more researchers and engineers incline to study classes of biologically inspired robots. Since the natural inchworm can move well in various types of terrain, inchworm-like robots can exhibit excellent mobility. This paper describes a novel inchworm-type robot with simple structure developed for the application for climbing on trees or poles with a certain range of diameters. Modularization is adopted in the robot configuration. The robot is a serial mechanism connected by four joint modules and two grippers located at the front and rear end, respectively. Each joint is driven by servos, and each gripper is controlled by a linear motor. The simplified mechanism model is established, and then is used for its kinematic analysis based on screw theory. The dynamics of the robot are also analyzed by using Lagrange equations. The simulation of the robot gait imitating the locomotion of real inchworm is finally presented.

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Bazeille, Stéphane, Jesus Ortiz, Francesco Rovida, Marco Camurri, Anis Meguenani, Darwin G. Caldwell, and Claudio Semini. "Active camera stabilization to enhance the vision of agile legged robots." Robotica 35, no. 4 (November 17, 2015): 942–60. http://dx.doi.org/10.1017/s0263574715000909.

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SUMMARYLegged robots have the potential to navigate in more challenging terrains than wheeled robots. Unfortunately, their control is more demanding, because they have to deal with the common tasks of mapping and path planning as well as more specific issues of legged locomotion, like balancing and foothold planning. In this paper, we present the integration and the development of a stabilized vision system on the fully torque-controlled hydraulically actuated quadruped robot (HyQ). The active head added onto the robot is composed of a fast pan and tilt unit (PTU) and a high-resolution wide angle stereo camera. The PTU enables camera gaze shifting to a specific area in the environment (both to extend and refine the map) or to track an object while navigating. Moreover, as the quadruped locomotion induces strong regular vibrations, impacts or slippages on rough terrain, we took advantage of the PTU to mechanically compensate for the robot's motions. In this paper, we demonstrate the influence of legged locomotion on the quality of the visual data stream by providing a detailed study of HyQ's motions, which are compared against a rough terrain wheeled robot of the same size. Our proposed Inertial Measurement Unit (IMU)-based controller allows us to decouple the camera from the robot motions. We show through experiments that, by stabilizing the image feedback, we can improve the onboard vision-based processes of tracking and mapping. In particular, during the outdoor tests on the quadruped robot, the use of our camera stabilization system improved the accuracy on the 3D maps by 25%, with a decrease of 50% of mapping failures.

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Astley, Henry C., Chaohui Gong, Jin Dai, Matthew Travers, Miguel M. Serrano, Patricio A. Vela, Howie Choset, Joseph R. Mendelson, David L. Hu, and Daniel I. Goldman. "Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion." Proceedings of the National Academy of Sciences 112, no. 19 (March 23, 2015): 6200–6205. http://dx.doi.org/10.1073/pnas.1418965112.

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Many organisms move using traveling waves of body undulation, and most work has focused on single-plane undulations in fluids. Less attention has been paid to multiplane undulations, which are particularly important in terrestrial environments where vertical undulations can regulate substrate contact. A seemingly complex mode of snake locomotion, sidewinding, can be described by the superposition of two waves: horizontal and vertical body waves with a phase difference of ±90°. We demonstrate that the high maneuverability displayed by sidewinder rattlesnakes (Crotalus cerastes) emerges from the animal’s ability to independently modulate these waves. Sidewinder rattlesnakes used two distinct turning methods, which we term differential turning (26° change in orientation per wave cycle) and reversal turning (89°). Observations of the snakes suggested that during differential turning the animals imposed an amplitude modulation in the horizontal wave whereas in reversal turning they shifted the phase of the vertical wave by 180°. We tested these mechanisms using a multimodule snake robot as a physical model, successfully generating differential and reversal turning with performance comparable to that of the organisms. Further manipulations of the two-wave system revealed a third turning mode, frequency turning, not observed in biological snakes, which produced large (127°) in-place turns. The two-wave system thus functions as a template (a targeted motor pattern) that enables complex behaviors in a high-degree-of-freedom system to emerge from relatively simple modulations to a basic pattern. Our study reveals the utility of templates in understanding the control of biological movement as well as in developing control schemes for limbless robots.

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Kano, Takeshi, Eiki Sato, Tatsuya Ono, Hitoshi Aonuma, Yoshiya Matsuzaka, and Akio Ishiguro. "A brittle star-like robot capable of immediately adapting to unexpected physical damage." Royal Society Open Science 4, no. 12 (December 2017): 171200. http://dx.doi.org/10.1098/rsos.171200.

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A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star—a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion.

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Gu, Guoying, Jiang Zou, Ruike Zhao, Xuanhe Zhao, and Xiangyang Zhu. "Soft wall-climbing robots." Science Robotics 3, no. 25 (December 19, 2018): eaat2874. http://dx.doi.org/10.1126/scirobotics.aat2874.

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Existing robots capable of climbing walls mostly rely on rigid actuators such as electric motors, but soft wall-climbing robots based on muscle-like actuators have not yet been achieved. Here, we report a tethered soft robot capable of climbing walls made of wood, paper, and glass at 90° with a speed of up to 0.75 body length per second and multimodal locomotion, including climbing, crawling, and turning. This soft wall-climbing robot is enabled by (i) dielectric-elastomer artificial muscles that generate fast periodic deformation of the soft robotic body, (ii) electroadhesive feet that give spatiotemporally controlled adhesion of different parts of the robot on the wall, and (iii) a control strategy that synchronizes the body deformation and feet electroadhesion for stable climbing. We further demonstrate that our soft robot could carry a camera to take videos in a vertical tunnel, change its body height to navigate through a confined space, and follow a labyrinth-like planar trajectory. Our soft robot mimicked the vertical climbing capability and the agile adaptive motions exhibited by soft organisms.

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Arena, Paolo, Holk Cruse, and Mattia Frasca. "Cellular Nonlinear Network-Based Bio-Inspired Decentralized Control of Locomotion for Hexapod Robots." Adaptive Behavior 10, no. 2 (April 1, 2002): 97–111. http://dx.doi.org/10.1177/1059-712302-010002-02.

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This article introduces a new approach to locomotion control in six-legged robots. The approach is inspired by the model of decentralized locomotion control in the stick insect introduced by one of the authors and makes use of second-order nonlinear systems to realize the neuron-like dynamics of the sub-units of the whole control system. Each of these sub-units controls the behavior of a leg and is coordinated with the others by means of local influences based on the leg status, revealed by contact sensors. The suitability of the approach has been shown by using cellular nonlinear networks (CNNs) to implement the leg controllers. Simulations of the CNN-based locomotion control demonstrate its robustness with respect to different initial conditions and the property of pattern recovery after the external blocking of a leg.

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Nor, Norzalilah Mohamad, and Shugen Ma. "A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of a Snake-like Robot." Journal of Intelligent & Robotic Systems 75, no. 1 (August 8, 2013): 71–86. http://dx.doi.org/10.1007/s10846-013-9868-9.

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Bayraktaroglu, Zeki Y., and Pierre Blazevic. "Understanding Snakelike Locomotion Through a Novel Push-Point Approach." Journal of Dynamic Systems, Measurement, and Control 127, no. 1 (April 25, 2004): 146–52. http://dx.doi.org/10.1115/1.1870045.

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Limbless locomotion reveals increasing interest among locomotion methods inspiring mobile robots. This paper deals with the lateral undulation, one type of terrestrial snakelike locomotion. It represents the first part of a research project based on a biologically inspired approach. The purpose, in this first place, is to cover the physical principles involved in lateral undulation. Following an overview of the lateral undulation as it occurs in nature, the authors consider a generic planar mechanism and a related environment that suit to satisfy the fundamental mechanical phenomenon observed in the locomotion of terrestrial snakes. Application of a relatively simple control law is tested through dynamic simulations. In the second place, the results of this introductory study are going to be used in the research of an appropriate technological solution for an artificial snake exerting lateral undulation. The approach presented differs from other works on the subject in the sense that it does not require any wheeled structure.

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Daltorio, Kathryn A., Alexander S. Boxerbaum, Andrew D. Horchler, Kendrick M. Shaw, Hillel J. Chiel, and Roger D. Quinn. "Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots." Bioinspiration & Biomimetics 8, no. 3 (August 27, 2013): 035003. http://dx.doi.org/10.1088/1748-3182/8/3/035003.

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32

LU, Zhen-Li. "3-dimensional Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model." ACTA AUTOMATICA SINICA 33, no. 1 (2007): 0054. http://dx.doi.org/10.1360/aas-007-0054.

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33

KUO, CHUNG-HSIEN, HUNG-CHYUN CHOU, SHOU-WEI CHI, and YU-DE LIEN. "VISION-BASED OBSTACLE AVOIDANCE NAVIGATION WITH AUTONOMOUS HUMANOID ROBOTS FOR STRUCTURED COMPETITION PROBLEMS." International Journal of Humanoid Robotics 10, no. 03 (September 2013): 1350021. http://dx.doi.org/10.1142/s0219843613500217.

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Biped humanoid robots have been developed to successfully perform human-like locomotion. Based on the use of well-developed locomotion control systems, humanoid robots are further expected to achieve high-level intelligence, such as vision-based obstacle avoidance navigation. To provide standard obstacle avoidance navigation problems for autonomous humanoid robot researches, the HuroCup League of Federation of International Robot-Soccer Association (FIRA) and the RoboCup Humanoid League defined the conditions and rules in competitions to evaluate the performance. In this paper, the vision-based obstacle avoidance navigation approaches for humanoid robots were proposed in terms of combining the techniques of visual localization, obstacle map construction and artificial potential field (APF)-based reactive navigations. Moreover, a small-size humanoid robot (HuroEvolutionJR) and an adult-size humanoid robot (HuroEvolutionAD) were used to evaluate the performance of the proposed obstacle avoidance navigation approach. The navigation performance was evaluated with the distance of ground truth trajectory collected from a motion capture system. Finally, the experiment results demonstrated the effectiveness of using vision-based localization and obstacle map construction approaches. Moreover, the APF-based navigation approach was capable of achieving smaller trajectory distance when compared to conventional just-avoiding-nearest-obstacle-rule approach.

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Chen, Yung-Hsiang, Yung-Yue Chen, Qi-Xian Chen, and Yi-Lin Tsai. "A complete modeling for fish robots with actuators." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 44–55. http://dx.doi.org/10.1108/ir-05-2018-0099.

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Purpose For precisely presenting the swimming behavior of fish robots underwater and the practical implementation purpose, this paper aims to investigate a well-formulated fish robot model which integrates the nonlinear rigid body dynamics, kinematics and models of actuators. Design/methodology/approach This fish robot model is mainly built up by three basic parts: a balance mechanism, a four-links vibrator and a caudal fin. In the fish robot’s head, there is a balance mechanism used to control the rotations in pitch and roll directions of the fish robot by moving two movable masses. The four-links vibrator with three active joints actuated by DC motors is designed to vibrate the fish’s body. In the end of the fish robot body, a caudal fin which connects with the passive joint is developed to generate hydrodynamic thrust forces to propel the fish robot. Findings From the real stability tests and control verification, it is obvious that this proposed model can precisely present the swimming behavior of fish robots and possesses the potential to develop a fish-like robotic prototype. Originality/value A well-formulated model with dynamics of actuators is integrated for presenting the swimming behavior of carangiform locomotion type fish robots in this investigation. From the simulation results and the practical test of a real fish robot, the feasibility of this proposed model for building up real fish robots can be proven, and this proposed model is accurate enough to effectively present the swimming behavior of fish robots.

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Lisitano, Domenico, Elvio Bonisoli, Carmine Tommaso Recchiuto, and Giovanni Gerardo Muscolo. "Dynamic Balance of the Head in a Flexible Legged Robot for Efficient Biped Locomotion." Applied Sciences 11, no. 7 (March 25, 2021): 2945. http://dx.doi.org/10.3390/app11072945.

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In the biped robotics domain, head oscillations may be extremely harmful, especially if the robot is teleoperated, since vibrations strongly reduce the operator’s spatial awareness. In particular, undesired head oscillations occur in under-actuated robots, where springs and passive mechanisms are used to achieve a human-like motion. This paper proposes an approach to reduce the vibrations of a biped robot’s head; the proposed solution does not affect the dynamic locomotion properties, on which specific control logic could have been already tuned. The approach is tested on Rollo, a flexible-biped-wheeled robot, whose head vibrates throughout the robot locomotion. The two requirements, i.e., head vibration reduction and unchanged Rollo locomotion properties, are traduced in constraints to the robot possible modifications. Based on a 1D finite element model of the robot, tuned on experimental modal analysis, the undesired vibration causes are detected, and a solution for their reduction is proposed. Rollo’s head vibration amplitude is attenuated using a tuned vibration absorber, which achieves impressive performance in the robot. An archetype of the proposed vibration absorber is tailored designed on Rollo, without invasive changes to the robot structure. The proposed approach solves a significant problem in the biped robotic research community. The approach used to reduce the Rollo head oscillations may be utilized in other biped robot machines with or without flexible legs.

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Tanev, I., T. Ray, and A. Buller. "Automated evolutionary design, robustness, and adaptation of sidewinding locomotion of a simulated snake-like robot." IEEE Transactions on Robotics 21, no. 4 (August 2005): 632–45. http://dx.doi.org/10.1109/tro.2005.851028.

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Nakajima, Shuro. "RT-Mover: a rough terrain mobile robot with a simple leg–wheel hybrid mechanism." International Journal of Robotics Research 30, no. 13 (June 22, 2011): 1609–26. http://dx.doi.org/10.1177/0278364911405697.

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There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive shafts, a mechanism is designed for a four-wheeled mobile body that is widely used in practical locomotive machinery. Also, strategies for moving on rough terrain are proposed. The kinematics, stability, and control of RT-Mover are also described in detail. Some typical cases of rough terrain for wheel mode and leg mode are selected, and the robot’s ability of locomotion is assessed through simulations and experiments. In each case, the robot is able to move over rough terrain while maintaining the horizontal orientation of its platform.

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Arena, Paolo, Davide Lombardo, and Luca Patanè. "Biorobots, Nonlinear Dynamics and Perception." Advances in Science and Technology 58 (September 2008): 143–52. http://dx.doi.org/10.4028/www.scientific.net/ast.58.143.

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In this contribution a survey on a novel approach to locomotion and perception in biologically inspired robots is presented. The basic electronic architecture for modeling and implementing nonlinear dynamics involved in motion and perceptual control of the robot is the Cellular nonlinear network paradigm. It is shown how this continuous time lattice of neural-like circuits can generate suitable and real-time dynamics for efficient control of multi-actuators moving machines, and also to create the basis for a perceptual control of their behaviors.

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Hoshi, Yoshikatsu, Mitsuji Sampei, and Masanobu Koga. "An Autonomous Locomotion Control of a Multi-Joint Snake-Like Robot with Consideration of the Dynamic Manipulability." Journal of the Robotics Society of Japan 18, no. 8 (2000): 1133–40. http://dx.doi.org/10.7210/jrsj.18.1133.

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40

Hoshi, Yoshikatsu, Mitsuji Sampei, and Masanobu Koga. "An Autonomous Locomotion Control of a Multi-Joint Snake-Like Robot with Consideration of the Dynamic Manipulability." IFAC Proceedings Volumes 33, no. 2 (March 2000): 167–68. http://dx.doi.org/10.1016/s1474-6670(17)35568-4.

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41

Bing, Zhenshan, Long Cheng, Guang Chen, Florian Röhrbein, Kai Huang, and Alois Knoll. "Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot." Bioinspiration & Biomimetics 12, no. 3 (April 4, 2017): 035001. http://dx.doi.org/10.1088/1748-3190/aa644c.

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Boutin, Luc, Antoine Eon, Said Zeghloul, and Patrick Lacouture. "From human motion capture to humanoid locomotion imitation Application to the robots HRP-2 and HOAP-3." Robotica 29, no. 2 (May 19, 2010): 325–34. http://dx.doi.org/10.1017/s0263574710000172.

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SUMMARYThis paper presents a method to generate humanoid gaits from a human locomotion pattern recorded by a motion capture system. Thirty seven reflective markers were fixed on the human subject skin in order to get the subject whole body motion. To reproduce the human gait, especially the toes and heel contacts, the front and back edges of the robot's feet are used as support at the start and the end of the double support phase. The balance of the robot is respected using the zero moment point (ZMP) criterion and confirmed by the simulation software OPENHRP (General Robotics, Inc®). First, the feet trajectory as well as the ZMP reference trajectory are defined from the motion of the robot controlled as a marionette with the measured human joint angles. Then a specific inverse kinematic (IK) algorithm is proposed to find the humanoid robot's joint trajectories respecting the constraints of balance, floor contacts, and joint limits. The studied motion presented in this paper is a human walking trajectory containing a start, a movement in a straight line, a stop, and a quarter turn. The method was developed to be easily used for human-like robots of different sizes, masses, and structures and has been tested on the robot HRP-2 (AIST, Kawada Industries, Inc®) and on the small-sized humanoid robot HOAP-3 (Fujitsu Automation Ltd®).

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Mezghiche, Mohamed Khalil, and Noureddine Djedi. "Quantum genetic algorithm to evolve controllers for self-reconfigurable modular robots." World Journal of Engineering 17, no. 3 (April 20, 2020): 427–35. http://dx.doi.org/10.1108/wje-02-2019-0032.

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Purpose The purpose of this study is to explore using real-observation quantum genetic algorithms (RQGAs) to evolve neural controllers that are capable of controlling a self-reconfigurable modular robot in an adaptive locomotion task. Design/methodology/approach Quantum-inspired genetic algorithms (QGAs) have shown their superiority against conventional genetic algorithms in numerous challenging applications in recent years. The authors have experimented with several QGAs variants and real-observation QGA achieved the best results in solving numerical optimization problems. The modular robot used in this study is a hybrid simulated robot; each module has two degrees of freedom and four connecting faces. The modular robot also possesses self-reconfiguration and self-mobile capabilities. Findings The authors have conducted several experiments using different robot configurations ranging from a single module configuration to test the self-mobile property to several disconnected modules configuration to examine self-reconfiguration, as well as snake, quadruped and rolling track configurations. The results demonstrate that the robot was able to perform self-reconfiguration and produce stable gaits in all test scenarios. Originality/value The artificial neural controllers evolved using the real-observation QGA were able to control the self-reconfigurable modular robot in the adaptive locomotion task efficiently.

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Sanfilippo, Filippo, Øyvind Stavdahl, and Pål Liljebäck. "SnakeSIM: a ROS-based control and simulation framework for perception-driven obstacle-aided locomotion of snake robots." Artificial Life and Robotics 23, no. 4 (August 22, 2018): 449–58. http://dx.doi.org/10.1007/s10015-018-0458-6.

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Ma, Shugen, Naoki Tadokoro, and Kousuke Inoue. "Influence of the gradient of a slope on optimal locomotion curves of a snake-like robot." Advanced Robotics 20, no. 4 (January 2006): 413–28. http://dx.doi.org/10.1163/156855306776562279.

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Al-Shuka, Hayder F. N., B. Corves, Wen-Hong Zhu, and B. Vanderborght. "Multi-level control of zero-moment point-based humanoid biped robots: a review." Robotica 34, no. 11 (February 24, 2015): 2440–66. http://dx.doi.org/10.1017/s0263574715000107.

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SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

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Saab, Wael, William S. Rone, and Pinhas Ben-Tzvi. "Robotic tails: a state-of-the-art review." Robotica 36, no. 9 (May 25, 2018): 1263–77. http://dx.doi.org/10.1017/s0263574718000425.

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SUMMARYThis paper reviews the state-of-the-art in robotic tails intended for inertial adjustment applications on-board mobile robots. Inspired by biological tails observed in nature, robotic tails provide a separate means to enhance stabilization, and maneuverability from the mobile robot's main form of locomotion, such as legs or wheels. Research over the past decade has primarily focused on implementing single-body rigid pendulum-like tail mechanisms to demonstrate inertial adjustment capabilities on-board walking, jumping and wheeled mobile robots. Recently, there have been increased efforts aimed at leveraging the benefits of both articulated and continuum tail mechanism designs to enhance inertial adjustment capabilities and further emulate the structure and functionalities of tail usage found in nature. This paper discusses relevant research in design, modeling, analysis and implementation of robotic tails onto mobile robots, and highlight how this work is being used to build robotic systems with enhanced performance capabilities. The goal of this article is to outline progress and identify key challenges that lay ahead.

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Savoie, William, Thomas A. Berrueta, Zachary Jackson, Ana Pervan, Ross Warkentin, Shengkai Li, Todd D. Murphey, Kurt Wiesenfeld, and Daniel I. Goldman. "A robot made of robots: Emergent transport and control of a smarticle ensemble." Science Robotics 4, no. 34 (September 18, 2019): eaax4316. http://dx.doi.org/10.1126/scirobotics.aax4316.

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Robot locomotion is typically generated by coordinated integration of single-purpose components, like actuators, sensors, body segments, and limbs. We posit that certain future robots could self-propel using systems in which a delineation of components and their interactions is not so clear, becoming robust and flexible entities composed of functional components that are redundant and generic and can interact stochastically. Control of such a collective becomes a challenge because synthesis techniques typically assume known input-output relationships. To discover principles by which such future robots can be built and controlled, we study a model robophysical system: planar ensembles of periodically deforming smart, active particles—smarticles. When enclosed, these individually immotile robots could collectively diffuse via stochastic mechanical interactions. We show experimentally and theoretically that directed drift of such a supersmarticle could be achieved via inactivation of individual smarticles and used this phenomenon to generate endogenous phototaxis. By numerically modeling the relationship between smarticle activity and transport, we elucidated the role of smarticle deactivation on supersmarticle dynamics from little data—a single experimental trial. From this mapping, we demonstrate that the supersmarticle could be exogenously steered anywhere in the plane, expanding supersmarticle capabilities while simultaneously enabling decentralized closed-loop control. We suggest that the smarticle model system may aid discovery of principles by which a class of future “stochastic” robots can rely on collective internal mechanical interactions to perform tasks.

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Zhang, Shuo, Xingxing Ke, Qin Jiang, Han Ding, and Zhigang Wu. "Programmable and reprocessable multifunctional elastomeric sheets for soft origami robots." Science Robotics 6, no. 53 (April 7, 2021): eabd6107. http://dx.doi.org/10.1126/scirobotics.abd6107.

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Tunable, soft, and multifunctional robots are contributing to developments in medical and rehabilitative robotics, human-machine interaction, and intelligent home technology. A key aspect of soft robot fabrication is the ability to use flexible and efficient schemes to enable the seamless and simultaneous integration of configurable structures. Here, we report a strategy for programming design features and functions in elastomeric surfaces. We selectively modified these elastomeric surfaces via laser scanning and then penetrated them with an active particle–infused solvent to enable controllable deformation, folding, and functionality integration. The functionality of the elastomers can be erased by a solvent retreatment and reprocessed by repeating the active particle infusion process. We established a platform technique for fabricating programmable and reprocessable elastomeric sheets by varying detailed morphology patterns and active particles. We used this technique to produce functional soft ferromagnetic origami robots with seamlessly integrated structures and various active functions, such as robots that mimic flowers with petals bent at different angles and with different curvatures, low-friction swimming robots, multimode locomotion carriers with gradient-stiffness claws for protecting and delivering objects, and frog-like robots with adaptive switchable coloration that responds to external thermal and optical stimuli.

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Fukuoka, Y., and H. Kimura. "Dynamic Locomotion of a Biomorphic Quadruped ‘Tekken’ Robot Using Various Gaits: Walk, Trot, Free-Gait and Bound." Applied Bionics and Biomechanics 6, no. 1 (2009): 63–71. http://dx.doi.org/10.1155/2009/743713.

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Numerous quadruped walking and running robots have been developed to date. Each robot walks by means of a crawl, walk, trot or pace gait, or runs by means of a bound and/or gallop gait. However, it is very difficult to design a single robot that can both walk and run because of problems related to mechanisms and control. In response to this, we adapted a biological control method for legged locomotion in order to develop a dog-like quadruped robot we have named ‘Tekken’. Tekken has a control system that incorporates central pattern generators, reflexes and responses as well as a mechanism that makes the most of the control system. Tekken, which is equipped with a single mechanism, an unchangeable control method, and modifiable parameters, is capable of achieving walking and trotting on flat terrain, can walk using a free gait on irregular terrain, and is capable of running on flat terrain using a bounding gait. In this paper, we describe the mechanism, the control method and the experimental results of our new development.

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Journal articles on the topic 'Locomotion control of snake-like robots'

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