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Relevant bibliographies by topics / Simulation of snake-like robots

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Academic literature on the topic 'Simulation of snake-like robots'

Author: Grafiati

Published: 28 June 2021

Last updated: 5 February 2022

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Journal articles on the topic "Simulation 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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Hůlka, Tomáš, Radomil Matoušek, Ladislav Dobrovský, Monika Dosoudilová, and Lars Nolle. "Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design." MENDEL 26, no. 1 (May 26, 2020): 1–6. http://dx.doi.org/10.13164/mendel.2020.1.001.

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This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In the Loop (SIL) technique, where the virtual model is an approximation of a real snake-like robot. Experiments were performed using an 8-link snake robot with a given mass and a different body friction. The aim of the optimization was speed and length of the trace.

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Abdulrab, Hakim Q. A., Ili Najaa Aimi Mohd Nordin, Muhammad Rusydi Muhammad Razif, and Ahmad Athif Mohd Faudzi. "Snake-like Soft Robot Using 2-Chambers Actuator." ELEKTRIKA- Journal of Electrical Engineering 17, no. 1 (April 16, 2018): 34–40. http://dx.doi.org/10.11113/elektrika.v17n1.39.

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Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The fabricated actuators can bend at 27.5o with maximum pressure of 180 kPa.

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Vossoughi, Gholamreza, Hodjat Pendar, Zoya Heidari, and Saman Mohammadi. "Assisted passive snake-like robots: conception and dynamic modeling using Gibbs–Appell method." Robotica 26, no. 3 (May 2008): 267–76. http://dx.doi.org/10.1017/s0263574707003864.

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SUMMARYIn this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs–Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs–Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve.

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Ivan, Virgala, and Filakovský Filip. "CONCERTINA LOCOMOTION OF A SNAKE ROBOT IN THE PIPE." TECHNICAL SCIENCES AND TECHNOLOG IES, no. 4 (14) (2018): 109–17. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-109-117.

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Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Inspection of the pipes is well-known engineering application. For this application are usually used wheel-based robots. Another approaches are based on biologically inspired mechanisms like inchworm robot. Our study deals with another kind of pipe inspection robot, namely snake robot. Target setting. Modeling and testing of snake robot moving in the pipe for the inspection purposes. Actual scientific researches and issues analysis. Pipe inspection is usually done by wheel-based robots. However, snake robots have great potential to do these applications. Uninvestigated parts of general matters defining. Inspection in section of curved pipes is still the actual point of research. The research objective. In the paper the locomotion pattern of namely snake robot is designed and experimentally verified. The statement of basic materials. This paper investigates the area of numerical modeling in software MATLAB. The paper presents locomotion pattern of snake robot moving in the narrow pipe. Next, kinematic model for robot is derived and motion of robot simulated in the software MATLAB. Subsequently the experiments are done with experimental snake robot LocoSnake. In the conclusion the simulation and experiment results are compared and discussed. Conclusions. The paper introduces concertina locomotion pattern of namely snake robot with numerical modeling as well as experimental verification. The results of experiment are different from simulation mainly because of differences of kinematic configuration between simulation and real model. The experiment also shows uniqueness of kinematic configuration using revolute as well as prismatic joints, what is for concertina locomotion significant.

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Huynh, Phu Duc, and Tuong Quan Vo. "An application of genetic algorithm to optimize the 3-Joint carangiform fish robot’ s links to get the desired straight velocity." Science and Technology Development Journal 18, no. 1 (March 31, 2015): 27–36. http://dx.doi.org/10.32508/stdj.v18i1.920.

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Biomimetic robot is a new branch of researched field which is developing quickly in recent years. Some of the popular biomimetic robots are fish robot, snake robot, dog robot, dragonfly robot, etc. Among the biomimetic underwater robots, fish robot and snake robot are mostly concerned. In this paper, we study about an optimization method to find the design parameters of fish robot. First, we analyze the dynamic model of the 3-joint Carangiform fish robot by using Lagrange method. Then the Genetic Algorithm (GA) is used to find the optimal lengths’ values of fish robot’s links. The constraint of this optimization problem is that the values of fish robot’s links are chosen that they can make fish robot swim with the desired straight velocity. Finally, some simulation results are presented to prove the effectiveness of the proposed method

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Barazandeh, Farshad, Hossein Rahnamafard, Mehdi Rajabizadeh, and Hossein Faraji. "Engineering observation of lateral undulation in colubrid snakes for wheel-less locomotion." Robotica 30, no. 7 (December 14, 2011): 1079–93. http://dx.doi.org/10.1017/s0263574711001251.

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SUMMARYNature has always inspired engineers. This research tries to understand the contribution of snake anatomy in its locomotion from engineering point of view to be adopted in the design of snake robots. Rib design and muscular structure of snake robots will have a great impact on snake robot flexibility, weight, and actuators' torque. It will help to eliminate wheels in snake robots during serpentine locomotion. The result of this research shows that snakes can establish the required peg points on smooth surfaces by deflecting the body and ribs. The results are verified by both field observations and simulation.

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Douadi, Lounis, Davide Spinello, Wail Gueaieb, and Hassan Sarfraz. "Planar kinematics analysis of a snake-like robot." Robotica 32, no. 5 (November 4, 2013): 659–75. http://dx.doi.org/10.1017/s026357471300091x.

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SUMMARYThis paper presents the kinematics of a planar multibody vehicle which is aimed at the exploration, data collection, non-destructive testing and general autonomous navigation and operations in confined environments such as pipelines. The robot is made of several identical modules hinged by passive revolute joints. Every module is actuated with four active revolute joints and can be regarded as a parallel mechanism on a mobile platform. The proposed kinematics allows to overcome the nonholonomic kinematic constraint, which characterizes typical wheeled robots, resulting into a higher number of degrees of freedom and therefore augmented actuation inputs. Singularities in the kinematics of the modules are analytically identified. We present the dimensional synthesis of the length of the arms obtained as the solution of an optimization problem with respect to a suitable dexterity index. Simulation results illustrate a kinematic control path following inside pipes. Critical scenarios such as 135° elbows and concentric restriction are explored. Path following shows the kinematic capability of deployment of the robot for autonomous operations in pipelines, with feedback implemented by on-board sensors.

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Woodford, Grant W., and Mathys C. du Plessis. "Complex Morphology Neural Network Simulation in Evolutionary Robotics." Robotica 38, no. 5 (July 22, 2019): 886–902. http://dx.doi.org/10.1017/s0263574719001140.

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SUMMARYThis paper investigates artificial neural network (ANN)-based simulators as an alternative to physics-based approaches for evolving controllers in simulation for a complex snake-like robot. Prior research has been limited to robots or controllers that are relatively simple. Benchmarks are performed in order to identify effective simulator topologies. Additionally, various controller evolution strategies are proposed, investigated and compared. Using ANN-based simulators for controller fitness estimation during controller evolution is demonstrated to be a viable approach for the high-dimensional problem specified in this work.

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Shethwala, Yash Dinesh, Ravi Pravinbhai Patel, Darshankumar Rajendrakumar Shah, and Saurin M. Sheth. "A Novel Concept of Biomorphic Hyper-Redundant Snake Robot." International Journal of Disaster Response and Emergency Management 2, no. 1 (January 2019): 33–49. http://dx.doi.org/10.4018/ijdrem.2019010103.

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Disaster is a sudden accident or a natural calamity that causes great damage or loss of life and property. In any disastrous conditions, a lot of manpower is wasted and still unable to save some lives. A biomorphic hyper-redundant snake-like robot may help in such situations. Its excellent property of getting into small spaces and ability to traverse along any surface can be very helpful in search and rescue operations. These robots can help to locate humans in a disaster and provide precise information about its condition to rescuers. It can also be used in other domains like military, underwater, aerospace, and nuclear. In this research, the mechanical modelling and simulation of snake robot body have been carried out. Different speeds have been achieved on various surfaces where the snake robot has to traverse. An algorithm is proposed for human detection based on a YOLO algorithm. PCB design for the power supply is carried out and two types of gait motion (lateral undulation and side winding) have been achieved by the snake robot.

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Dissertations / Theses on the topic "Simulation of snake-like robots"

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Call, Anson Jay. "Dynamic modeling and simulation of a snake-like robot." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/19523.

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Vidlák, Marek. "Článkové roboty." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232193.

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Master’s thesis deals with design the link robot and motion simulation. It is divided into four parts. In first part are briefly explained basic information of industrial robots and manipulators, their design and structure. Further it is listed some examples of design industrial robots and manipulators and principle of computation of kinematic chain. On beginning of the second part is performed analysis of configuration link robots, description of their designs and structures, examples of design link robots and their applications. In third part is selected option of design, created mathematical and kinematic model. Then it is designed and described construction of robot. The last section is devoted to simulation of robot’s kinematics, description of simulation softwares and their use for required results.

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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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Liu, Zehao. "Obstacle Avoidance Path Planning for Worm-like Robot." Case Western Reserve University School of Graduate Studies / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1619457610715525.

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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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Caglav, Engin. "A Snake-like Robot For Searching, Cleaning Passages From Debris And Dragging Victims." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607994/index.pdf.

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In this thesis, a snake like robot is implemented for search and rescue applications. The snake is intentionally selected as a reference for their ability to move on various environments, but due to the mechanical limitations the implemented snake-like robot design could not be close to the biological counterparts. Although the implemented snake like robot is not a replica of biological snakes
it captured key aspects of snakes such as flexibility, redundancy and high adaptation. To depart from the mechanical limitations
a model of the implemented robot is designed in MATLAB - SIMMECHANICS including a model for the environment. The implemented model is based on the implemented snake like robot but possessed extra features. The model is controlled to perform common snake gaits for navigation. Obstacle avoidance, object (debri or victim) v reaching and object dragging behaviors are acquired for the implemented gaits. Object dragging is accomplished by pushing an object by head or the body of the robot without lifting. For effective navigation, appropriate snake gaits are conducted by the model. All control operations such as obstacle avoidance for each gait and gait selection
a network of self tunable FACL (fuzzy actor critic) fuzzy controllers is used. Although the adapted snake gaits result in the movements which have properties that are not a replica of the real snake gaits, self tunable controllers offered best available combination of gaits for all situations. Finally, truncated version of the controller network, where the implemented mechanical robot&
#8217
s abilities are not breached, is attached to the mechanical robot.

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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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Batsios, Nicholas. "Design and construction of a multi-segment snake-like wheeled vehicle." Ohio : Ohio University, 1997. http://www.ohiolink.edu/etd/view.cgi?ohiou1177610642.

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Thayer, Nicholas D. "Towards a Human-like Robot for Medical Simulation." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/35077.

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Medical mannequins provide the first hands-on training for nurses and doctors and help eliminate human mistakes that would otherwise take place with a real person. The closer the mannequin is to mimicking a human being, the more effective the training; thus, additional features such as movable limbs and eyes, vision processing and realistic social interaction will provide a more fulfilling learning experience. A humanoid robot with a 23 degree of freedom (DOF) hand was developed which is capable of performing complex dexterous tasks such as typing on a keyboard. A single DOF elbow and two DOF shoulder was designed and optimized to maintain human form while being able to dynamically lift common household items. A 6 DOF neck and 13 DOF face with a highly expressive silicone skin-motor arrangement has been developed. The face is capable of talking and making several expressions and is used to train the student to pick up on emotional cues such as eye contact and body language during the interview stage. A pair of 3 DOF legs and a torso were also developed which allows the humanoid to be in either the laying down or sitting up position. An algorithm was developed that only activates necessary areas of code in order to increase its cycle time which greatly increases the vision tracking capabilities of the eyes. The simulator was tested at Carilion Clinic in Roanoke VA with several of the medical staff and their feedback is provided in this document.
Master of Science

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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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Books on the topic "Simulation of snake-like robots"

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Hirose, Shigeo. Biologically inspired robots: Snake-like locomotors and manipulators. Oxford: Oxford University Press, 1993.

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Biologically inspired robots: Snake-like locomotors and manipulators. Oxford: Oxford University Press, 1993.

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Believable Bots Can Computers Play Like People. Springer, 2012.

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Book chapters on the topic "Simulation of snake-like robots"

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Aubin, R., P. Blazevic, and J. P. Guyvarch. "Simulation of a Novel Snake-Like Robot." In Climbing and Walking Robots, 875–82. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_105.

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Ciurezu-Gherghe, L., N. Dumitru, and C. Copilusi. "Design and Simulation of a Snake like Robot." In New Advances in Mechanism and Machine Science, 263–72. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-79111-1_26.

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Khatib, O., O. Brock, K. S. Chang, D. Ruspini, L. Sentis, F. Conti, and S. Viji. "Efficient Algorithms for Robots with Human-Like Structures and Interactive Haptic Simulation." In Advances in Robot Kinematics, 89–98. Dordrecht: Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_10.

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Walker, Ian D., Howie Choset, and Gregory S. Chirikjian. "Snake-Like and Continuum Robots." In Springer Handbook of Robotics, 481–98. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32552-1_20.

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Guan, Zhuoqun, Jianping Huang, Zhiyong Jian, Linlin liu, Long Cheng, and Kai Huang. "A Learning Based Recovery for Damaged Snake-Like Robots." In Neural Information Processing, 26–39. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-04239-4_3.

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Suarez, Damaso Perez-Moneo, and Claudio Rossi. "Evolutionary Learning of Basic Functionalities for Snake-Like Robots." In ROBOT2013: First Iberian Robotics Conference, 391–406. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-03413-3_28.

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Nilsson, Martin. "Fast 3D Simulation of Snake Robot Motion." In Distributed Autonomous Robotic Systems 2, 63–70. Tokyo: Springer Japan, 1996. http://dx.doi.org/10.1007/978-4-431-66942-5_7.

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Byrtus, Roman, and Jana Vechetová. "Trident Snake Robot Motion Simulation in V-Rep." In Modelling and Simulation for Autonomous Systems, 27–42. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-14984-0_3.

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Melo, Kamilo, Jose Monsalve, Alvaro Di Zeo, Juan Leon, Andres Trujillo, Wilson Perdomo, Diego Roa, and Laura Paez. "Integration Scheme for Modular Snake Robot Software Components." In Modelling and Simulation for Autonomous Systems, 184–91. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-13823-7_17.

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Marín, Francisco Javier, Jorge Casillas, Manuel Mucientes, Aksel Andreas Transeth, Sigurd Aksnes Fjerdingen, and Ingrid Schjølberg. "Learning Intelligent Controllers for Path-Following Skills on Snake-Like Robots." In Intelligent Robotics and Applications, 525–35. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25489-5_51.

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Conference papers on the topic "Simulation of snake-like robots"

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Haghshenas-Jaryani, Mahdi, and GholamReza Vossoughi. "Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46480.

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This paper presents operational space control of snake-like robots for tracking designated paths using a double layer sliding mode control algorithm. The snake robot has n links with assumed lateral sliding that leads to n+2 degrees-of-freedom (DOF) while it has only n-1 actuator at joints and therefore it is underactuated. Kinematic constraints were determined which describe the geometric relationship between the position of links’ mass center and the joints’ relative angle. The outer layer (loop) of the controller was designed to modulate the parameters of the serpenoid curve using the kinematic constraints in order to the mass center of links follow different designated paths. The inner layer of sliding mode controller was developed to guarantee tracking of the modulated serpenoidal pattern by the snake robot’s joints. In this work, Kane’s method was used to model the robot dynamics with a Coulomb friction for interaction with ground. Uncertainty with an upper bound was considered for the model parameters. To demonstrate the effectiveness of the designed controller in presence of uncertainties, the double layer controller was examined on a four links snake-like robot with uncertain model parameters in tracking of a straight line and a circular path. Simulation results are presented in support of the proposed idea.

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Qiao, Guifang, Xiulan Wen, Guangming Song, Di Liu, and Qi Wan. "Effects of the compliant intervertebral discs in the snake-like robots: A simulation study." In 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2016. http://dx.doi.org/10.1109/robio.2016.7866423.

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Yong Chen, Zhaoding Qiu, Zhenli Lu, and Limin Mao. "Numerical simulation of hydrodynamic characteristics of underwater snake-like robot." In 2015 International Conference on Control, Automation and Information Sciences (ICCAIS). IEEE, 2015. http://dx.doi.org/10.1109/iccais.2015.7338719.

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Yang, Bingsong, Liang Han, Guangming Li, Wenfu Xu, and Bingshan Hu. "A modular amphibious snake-like robot: Design, modeling and simulation." In 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2015. http://dx.doi.org/10.1109/robio.2015.7419054.

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Mohammadi, Alireza. "Design of Propulsive Virtual Holonomic Constraints for Planar Snake Robots." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5159.

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Virtual holonomic constraints (VHCs) framework is a recent control paradigm for systematic design of motion controllers for wheel-less biologically inspired snake robots. Despite recent developments for VHC-based control systems for ground and underwater robotic snakes, they employ only two families of propulsive virtual holonomic constraints, i.e., lateral undulatory and eel-like virtual constraints. In this paper we extend the family of propulsive virtual constraints that can be used with VHC-based controllers by presenting a VHC analysis and synthesis methodology for planar snake robots that are subject to ground friction forces. In particular, we present a nonlinear differential inequality that guarantees forward motion of planar snake robots under the influence of VHCs. Furthermore, we provide a family of hyperbolic partial differential equations that can be employed to generate propulsive virtual holonomic constraints for these biologically inspired robots. Simulations are presented to verify the proposed analysis/synthesis methodology.

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Vossoughi, Golamreza, Hodjat Pendar, Zoya Heidari, and Saman Mohammadi. "Conception and Dynamic Modeling of an Assisted Passive Snake-Like Robot Using Gibbs-Appell Method." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85008.

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In this paper we present a novel planar structure of a snake-like robot. This structure enables passive locomotion in snake-like robots through an auxiliary link in joint and a torsional spring. Dynamic equations are derived, using Gibbs-Appell method. Kinematic model of the robot include numerous non-holonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in significant reduction of simulation time. Simulation results show that, by proper selecting initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve.

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Mohammadi, Saman, Zoya Heidari, Hojjat Pendar, Aria Alasty, and Gholamreza Vossoughi. "Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34988.

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Abstract:

In this paper we follow two approaches in optimal nonlinear control of a snake-like robot. After deriving the dynamic equations of motion using Gibbs-Appell method, reducing these equations, and some assumptions, feedbacklinearization method was used to linearize the nonlinear system. The obtained controller is used in simulations to control robot to track a desired line, with minimum required torques. Two goals are desired. First the robot’s head is expected to track a distinct line with a given speed. And next, tracking the serpenoid curve is desired. The simulation results prove the controller efficiency. The robustness of the designed controller is shown by comparing the torques with the required torques using a PD controller. Additionally, although we had model mismatches and unmodeled dynamics in controller part, we achieved the desired goals.

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Bing, Zhenshan, Christian Lemke, Zhuangyi Jiang, Kai Huang, and Alois Knoll. "Energy-Efficient Slithering Gait Exploration for a Snake-Like Robot Based on Reinforcement Learning." In Twenty-Eighth International Joint Conference on Artificial Intelligence {IJCAI-19}. California: International Joint Conferences on Artificial Intelligence Organization, 2019. http://dx.doi.org/10.24963/ijcai.2019/785.

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Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly redundant degrees of freedom, where traditional model-based methods usually fail to propel the robots energy-efficiently. In this work, we present a novel approach for designing an energy-efficient slithering gait for a snake-like robot using a model-free reinforcement learning (RL) algorithm. Specifically, we present an RL-based controller for generating locomotion gaits at a wide range of velocities, which is trained using the proximal policy optimization (PPO) algorithm. Meanwhile, a traditional parameterized gait controller is presented and the parameter sets are optimized using the grid search and Bayesian optimization algorithms for the purposes of reasonable comparisons. Based on the analysis of the simulation results, we demonstrate that this RL-based controller exhibits very natural and adaptive movements, which are also substantially more energy-efficient than the gaits generated by the parameterized controller. Videos are shown at https://videoviewsite.wixsite.com/rlsnake .

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Sastra, Jimmy, Willy Giovanni Bernal Heredia, Jonathan Clark, and 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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Melo, Kamilo, Juan Leon, Jose Monsalve, Vivian Fernandez, and Daniel Gonzalez. "Simulation and control integrated framework for modular snake robots locomotion research." In 2012 IEEE/SICE International Symposium on System Integration (SII 2012). IEEE, 2012. http://dx.doi.org/10.1109/sii.2012.6427341.

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Reports on the topic "Simulation of snake-like robots"

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Hoppel, Mark. Creation of Robotic Snake to Validate Contact Modeling in Simulation. Fort Belvoir, VA: Defense Technical Information Center, December 2013. http://dx.doi.org/10.21236/ada594656.

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