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1
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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Li, Dongfang, Zhenhua Pan, Hongbin Deng, and Teng Peng. "Trajectory tracking control law of multi-joint snake-like robot based on improved snake-like curve in flow field." International Journal of Advanced Robotic Systems 16, no. 2 (March 1, 2019): 172988141984466. http://dx.doi.org/10.1177/1729881419844665.
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Aiming at the problem of trajectory tracking between joints of the multi-joint snake-like robot in the flow fields, a trajectory tracking control law proposed based on the improved snake-like curve of a multi-joint snake-like robot to avoid obstacles in the flow fields is studied. Firstly, considering the external disturbance that the fluid environment may impose on the multi-joint snake-like robot system, from the point of view of probability, the fluid–solid coupling models of the obstacle channel and multi-joint snake-like robot are established in the flow field by using immersed boundary-lattice Boltzmann method algorithm, which solves the problem of nonlinear fluid motion that cannot be explained by solving the Navier-Stokes (N-S) equation. Then, a potential function is applied to the multi-joint snake-like robot so that the head of the robot can avoid obstacles in the fluid smoothly. By improving the snake-like motion equation, the snake-like curve trajectory tracking function of each joint of the multi-joint snake-like robot with time variation is obtained, which enables the tail joints of the snake-like robot to track the motion trajectory of the head joints. Finally, the effects of different flow field density, velocity, and Reynolds numbers on trajectory tracking of the multi-joint snake-like robot are studied by MATLAB simulations and experiments. The theoretical analysis and numerical simulation show that the designed trajectory tracking control law can make the multi-joint snake-like robot track the trajectory of the front joint when the robot encounters obstacles and make the robot stabilize the lateral distance, longitudinal distance, and direction angle, so as to effectively avoid obstacles. The simulation and experimental results verify the effectiveness of the trajectory tracking control law.
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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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Li, Dongfang, Zhenhua Pan, and Hongbin Deng. "Two-dimensional obstacle avoidance control algorithm for snake-like robot in water based on immersed boundary-lattice Boltzmann method and improved artificial potential field method." Transactions of the Institute of Measurement and Control 42, no. 10 (January 24, 2020): 1840–57. http://dx.doi.org/10.1177/0142331219897992.
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In order to study the adaptability of a multi-redundancy and multi-degree-of-freedom snake-like robot to underwater motion, a two-dimensional (2-D) obstacle avoidance control algorithm for a snake-like robot based on immersed boundary-lattice Boltzmann method (IB-LBM) and improved artificial potential field (APF) is proposed in this paper. Firstly, the non-linear flow field model is established under the framework of LBM, and the IB method is introduced to establish a fluid solid coupling of a 2-D soft snake-like robot. Then, the obstacle avoidance of a snake-like robot in a flow field is realized by optimizing the curvature equation of the serpentine curve and eliminating the local minimum in APF method. Finally, the effects by exerted different control parameters on a snake-like robot’s obstacle avoidance capability are analyzed via MATLAB simulation experiment, by which we can find the optimal parameter of the obstacle avoidance and testify the validity of the proposed control algorithm.
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Liljebäck, Pål, Kristin Y. Pettersen, Øyvind Stavdahl, and Jan Tommy Gravdahl. "Lateral undulation of snake robots: a simplified model and fundamental properties." Robotica 31, no. 7 (April 15, 2013): 1005–36. http://dx.doi.org/10.1017/s0263574713000295.
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SUMMARYThis paper considers the lateral undulation motion of snake robots. The first contribution of the paper is a model of lateral undulation dynamics developed for control design and stability analysis purposes. The second contribution is an analysis of the simplified model that shows that any asymptotically stabilizing control law for the snake robot to an equilibrium point must be time varying. Furthermore, the analysis shows that a snake robot (with four links) is strongly accessible from almost any equilibrium point, except for certain singular configurations, and that the robot does not satisfy sufficient conditions for small-time local controllability. The third contribution is based on using averaging theory to prove that the average velocity of the robot during lateral undulation will converge exponentially fast to a steady-state velocity which is given analytically as a function of the gait pattern parameters. From the averaging analysis, we also derive a set of fundamental relationships between the gait parameters of lateral undulation and the resulting forward velocity of the snake robot. The paper presents simulation results and results from experiments with a physical snake robot that support the theoretical findings.
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Bae, Junseong, Myeongjin Kim, Bongsub Song, Maolin Jin, and Dongwon Yun. "Snake Robot with Driving Assistant Mechanism." Applied Sciences 10, no. 21 (October 24, 2020): 7478. http://dx.doi.org/10.3390/app10217478.
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Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments. It was possible to overcome grasslands and a 27 degrees slope without using additional driving controllers. In conclusion, we expect that a snake robot can conduct a wide range of missions well, such as exploring disaster sites and rough terrain, by using the proposed mechanism.
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Li, Shuman, Chao Li, Liyang Xu, Wenjing Yang, and Xucan Chen. "Numerical Simulation and Analysis of Fish-Like Robots Swarm." Applied Sciences 9, no. 8 (April 21, 2019): 1652. http://dx.doi.org/10.3390/app9081652.
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Artificial fish-like robot is an important branch of underwater robot research. At present, most of fish-like robot research focuses on single robot mechanism behavior, some research pays attention to the influence of the hydro-environment on robot crowds but does not reach a unified conclusion on the efficiency of fish-like robots swarm. In this work, the fish-like robots swarm is studied by numerical simulation. Four different formations, including the tandem, the phalanx, the diamond, and the rectangle are conducted by changing the spacing between fishes. The results show that at close spacing, the fish in the back can obtain a large wake from the front fish, but suffers large lateral power loss from the lateral fish. On the contrary, when the spacing is large, both the wake and pressure caused by the front and side fishes become small. In terms of the average swimming efficiency of fish swarms, we find that when the fish spacing is less than 1.25 L (L is the length of the fish body), the tandem swarm is the best choice. When the spacing is 1.25 L , the tandem, diamond and rectangle swarms have similar efficiency. When the spacing is larger than 1.25 L , the rectangle swarm is more efficient than other formations. The findings will provide significant guidance for the control of fish-like robots swarm.
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Kalani, Hadi, Alireza Akbarzadeh, and Hossein Bahrami. "Application of statistical techniques in modeling and optimization of a snake robot." Robotica 31, no. 4 (November 16, 2012): 623–41. http://dx.doi.org/10.1017/s0263574712000616.
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SUMMARYThis paper provides a general framework based on statistical design and Simulated Annealing (SA) optimization techniques for the development, analysis, and performance evaluation of forthcoming snake robot designs. A planar wheeled snake robot is considered, and the effect of its key design parameters on its performance while moving in serpentine locomotion is investigated. The goal is to minimize energy consumption and maximize distance traveled. Key kinematic and dynamic parameters as well as their corresponding range of values are identified. Derived dynamic and kinematic equations of n-link snake robot are used to perform simulation. Experimental design methodology is used for design characterization. Data are collected as per full factorial design. For both energy consumption and distance traveled, logarithmic, linear, and curvilinear regression models are generated and the best models are selected. Using analysis of variance, ANOVA, effects of parameters on performance of robots are determined. Next, using SA, optimum parameter levels of robots with different number of links to minimize energy consumption and maximize distance traveled are determined. Both single and multi-criteria objectives are considered. Webots and Matlab SimMechanics software are used to validate theoretical results. For the mathematical model and the selected range of values considered, results indicate that the proposed approach is quite effective and efficient in optimization of robot performance. This research extends the present knowledge in this field by identifying additional parameters having significant effect on snake robot performance.
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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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Yeh, Shang-Wei, and Feng-Li Lian. "Modular Design and Simulation Study of Biomimetic Snake Robots." IFAC Proceedings Volumes 41, no. 2 (2008): 15612–17. http://dx.doi.org/10.3182/20080706-5-kr-1001.02640.
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Lv, Yan-hui, Li Li, Ming-hui Wang, and Xian Guo. "Simulation Study on Serpentine Locomotion of Underwater Snake-like Robot." International Journal of Control and Automation 8, no. 1 (January 31, 2015): 373–84. http://dx.doi.org/10.14257/ijca.2015.8.1.35.
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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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Nan, Wang, Pang Bo, and Zhou Sha-Sha. "Simulation Study of Snake-like Robot's Serpentine Locomotion Based on Recurdyn." Research Journal of Applied Sciences, Engineering and Technology 7, no. 1 (January 1, 2014): 37–41. http://dx.doi.org/10.19026/rjaset.7.217.
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Prada, Erik, Michael Valášek, and Alexander Gmiterko. "Simulation and Determination of the Influence of the Gait Function on the Change of the Shape of a Snake-Like Robot." Applied Mechanics and Materials 789-790 (September 2015): 636–42. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.636.
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This article discusses the application of the Hirose ́s function for the achievement of the serpentine locomotion of the snake-like robot. Verification of the accuracy of locomotion was performed by simulation in the MATLAB 2012a program. At the beginning of the article, the biological aspects and the principle of the snake’s locomotion are mentioned. In the following chapter, the basic Hirose ́s function, which is subsequently transformed into the discreet shape in the Cartesian coordinates, is described. Moreover, relations for the calculation of rotation angle of the individual segments, wrapping angle and other similar parameters have been obtained. At the end of the article, simulations have been performed within which the influence of changes of the individual parameters of the function on the change of the shape of the snake-like robot have been observed.
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Wang, Ling, Bai Chen, Peng Wang, Sun Chen, Qian Yun Zhu, and Ya Juan Li. "Thrust Force Modeling of the Flagella-Like Swimming Micro-Robot." Applied Mechanics and Materials 461 (November 2013): 930–41. http://dx.doi.org/10.4028/www.scientific.net/amm.461.930.
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In this paper, helix tails with rectangular cross-section were designed for propelling a kind of flagella-like swimming robot. CFD (Computational Fluid Dynamics) software was applied to analyze the major influencing factors of the robots mechanical properties. It is revealed that the thrust reaches the maximum when the helix tails cross-section width is 0.36 times the diameter. Meanwhile, the helix tails should be designed according to the requirements with the largest diameter, close to but less than 45° helix angle and multi-turns under the limitation of the workspace. Combining these simulation data with the derivation process of Resistive Force Theory, the models for the mechanical properties simulation of the swimming robot were revised, and the explicit empirical formula of propulsive force is obtained. This model lays a good foundation for the robots motion control as well as unified mathematical description for macro-scale and micro-scale robots.
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Zhan, Xiong, Hongbin Fang, Jian Xu, and Kon-Well Wang. "Planar locomotion of earthworm-like metameric robots." International Journal of Robotics Research 38, no. 14 (October 29, 2019): 1751–74. http://dx.doi.org/10.1177/0278364919881687.
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The goal of this research is to develop a generic earthworm-like locomotion robot model consisting of a large number of segments in series and based on which to systematically investigate the generation of planar locomotion gaits and their correlation with a robot’s locomotion performance. The investigation advances the state-of-the-art by addressing some fundamental but largely unaddressed issues in the field. These issues include (a) how to extract the main shape and deformation characteristics of the earthworm’s body and build a generic model, (b) how to coordinate the deformations of different segments such that steady-state planar locomotion can be achieved, and (c) how different locomotion gaits would qualitatively and quantitatively affect the robot’s locomotion performance, and how to evaluate them. Learning from earthworms’ unique morphology characteristics, a generic kinematic model of earthworm-like metameric locomotion robots is developed. Left/right-contracted segments are introduced into the model to achieve planar locomotion. Then, this paper proposes a gait-generation algorithm by mimicking the earthworm’s retrograde peristalsis wave, with which all admissible locomotion gaits can be constructed. We discover that when controlled by different gaits, the robot would exhibit four qualitatively different locomotion modes, namely, rectilinear, sidewinding, circular, and cycloid locomotion. For each mode, kinematic indexes are defined and examined to characterize their locomotion performances. For verification, a proof-of-concept robot hardware is designed and prototyped. Experiments reveal that with the proposed robot model and the employed gait controls, locomotion of different modes can be effectively achieved, and they agree well with the theoretical predictions.
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Omisore, Olatunji Mumini, Shipeng Han, Yousef Al-Handarish, Wenjing Du, Wenke Duan, Toluwanimi Oluwadara Akinyemi, and Lei Wang. "Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems." Micromachines 11, no. 4 (April 7, 2020): 386. http://dx.doi.org/10.3390/mi11040386.
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Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on different circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot’s movement was geometrically and parametrically continuous for three different trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot’s links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.
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Akbarzadeh, Alireza, Jalil Safehian, and Javad Safehian. "A New Approach to Kinematics Modelling of Snake-Robot Concertina Locomotion." Applied Mechanics and Materials 110-116 (October 2011): 2786–93. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.2786.
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In this paper, for the first time, kinematics modelling of snake robot travelling with concertina locomotion is presented. Next a novel kinematics modelling method is presented which has an advantage of allowing natural snake like locomotion. During concertina motion, certain parts of the body contract, expand or do not change their shape. This results into having different body curves for different parts of a snake. To simulate this, first we introduce a mathematical equation, called dynamic function, in which by varying a certain function parameter, body curve during motion is realized. To obtain concertina gait, the snake body is divided into three different modules, head module, tail module and main body module that connects the head to the tail module. Each module forms a specific curve which can be modelled using the proposed dynamic function. At each moment during snake locomotion, the kinematics of different links can be derived by fitting links to the body curve. Finally concertina locomotion is simulated using Webots software. Results indicate concertina locomotion can be obtained. Furthermore, the proposed dynamic function requires relatively lower computation requirement. Therefore, adaption of body curve to other real snake like gaits as well as mixed type locomotion is made possible. This works represents a first approach to a simulation of a snake-like mechanism in order to get basic characteristics of such locomotion and to enable our future research.
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Niazi, Muaz A. "Emergence of a Snake-Like Structure in Mobile Distributed Agents: An Exploratory Agent-Based Modeling Approach." Scientific World Journal 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/140309.
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The body structure of snakes is composed of numerous natural components thereby making it resilient, flexible, adaptive, and dynamic. In contrast, current computer animations as well as physical implementations of snake-like autonomous structures are typically designed to use either a single or a relatively smaller number of components. As a result, not only these artificial structures are constrained by the dimensions of the constituent components but often also require relatively more computationally intensive algorithms to model and animate. Still, these animations often lack life-like resilience and adaptation. This paper presents a solution to the problem of modeling snake-like structures by proposing an agent-based, self-organizing algorithm resulting in an emergent and surprisingly resilient dynamic structure involving a minimal of interagent communication. Extensive simulation experiments demonstrate the effectiveness as well as resilience of the proposed approach. The ideas originating from the proposed algorithm can not only be used for developing self-organizing animations but can also have practical applications such as in the form of complex, autonomous, evolvable robots with self-organizing, mobile components with minimal individual computational capabilities. The work also demonstrates the utility of exploratory agent-based modeling (EABM) in the engineering of artificial life-like complex adaptive systems.
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Bergerman, Marcel, and Yangsheng Xu. "Robust Joint and Cartesian Control of Underactuated Manipulators." Journal of Dynamic Systems, Measurement, and Control 118, no. 3 (September 1, 1996): 557–65. http://dx.doi.org/10.1115/1.2801180.
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Underactuated manipulators are robot manipulators composed of both active and passive joints in serial chain mechanisms. The study of underactuation is significant for the control of a variety of rigid-body systems, such as free-floating robots in space and gymnasts, whose structure include passive joints. For mechanisms with large degrees of freedom, such as hyper-redundant snake-like robots and multi-legged machines, the underactuated structure allows a more compact design, weight decrease, and energy saving. Furthermore, when one or more joints of a standard manipulator fail, it becomes an underactuated mechanism; a control technique for such system will increase the reliability and fault-tolerance of current and future robots. The goal of this study is to present a robust control method for the control of underactuated manipulators subject to modeling errors and disturbances. Because an accurate modelling of the underactuated system is more critical for control issues than it is for standard manipulators, this method is significant in practice. Variable structure controllers are proposed in both joint space and Cartesian space, and a comprehensive simulation study is presented to address issues such as computation, robustness, and feasibility of the methods. Experimental results demonstrate the actual applicability of the proposed methods in a real two-degrees-of-freedom underactuated manipulator. As it will be shown, the proposed variable structure controller provides robustness againstboth disturbances and parametric uncertainties, a characteristic not present on previously proposed PID-based schemes.
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Virgala, Ivan, Miroslav Dovica, Michal Kelemen, Erik Prada, and Zdenko Bobovský. "Snake Robot Movement in the Pipe Using Concertina Locomotion." Applied Mechanics and Materials 611 (August 2014): 121–29. http://dx.doi.org/10.4028/www.scientific.net/amm.611.121.
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Inspection tasks of pipes or channels are part of the engineering practice. In the past there were investigated conventional approaches like wheeled-based mechanisms. This paper deals with unconventional approach - snake robot moving in the pipe. In the paper locomotion pattern of concertina is introduced and subsequently kinematic model of concertina locomotion is established. Main requirements and conditions of presented locomotion pattern are stated. Using software Matlab the kinematic model is simulated according designed locomotion pattern in order to verify the kinematic model. For experimental purposes the experimental snake robot – LocoSnake is used. Simulation and experiment are compared and evaluated.
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Wang, Yihang, Xiaoshi Zhang, Xin Li, and Jingfeng He. "Motion simulation of a tensegrity snake-like robot based on the serpenoid curve." Journal of Physics: Conference Series 1965, no. 1 (July 1, 2021): 012033. http://dx.doi.org/10.1088/1742-6596/1965/1/012033.
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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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ZHENG, SHUPENG, XINJIAN NIU, and CHENHUI PENG. "ADAPTIVE SUPER-TWISTING-LIKE SLIDING MODE CONTROL WITH PRESCRIBED PERFORMANCE FOR ROBOT MANIPULATORS." Journal of Mechanics in Medicine and Biology 19, no. 08 (December 2019): 1940053. http://dx.doi.org/10.1142/s0219519419400530.
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In order to minimize the involuntary tremor of surgeon’s hands, the surgical robots are widely applied in the minimally invasive surgeries. However, unlike ordinary robots, the surgical robots require that the manipulator has high precision and strong anti-disturbance ability. Besides that, the manipulators of surgical robots must be able to move smoothly and respond quickly to the surgeon’s instructions during conducting tasks. To solve aforementioned problems, this paper describes a super-twisting sliding mode controller for the robot manipulator. The basic law is combined with the adaptive term to overcome the unknown disturbances and structural uncertainties, and with the prescribed performance allowing to influence the error dynamics. To ensure the robot system has good transient and steady-state performances, the transformation function of tracking errors is devised. Through using transformed errors, we attain the surface of sliding mode and propose a modified structure of traditional super-twisting algorithm. Considering the derivative of lumped disturbance has unknown boundary, a novel adaptive law is derived for the modified super-twisting sliding mode control which does not require the boundary of disturbance. Simulation experiments showed that the proposed control algorithm not only improves the tracking performance of surgical robot manipulators, but also facilitates the parameter tuning of controller. The devised robot manipulators are also potentially applicable to telesurgery where the steady-state response of surgical robots is required.
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Wang, Baofang, Chen Qian, and Qingwei Chen. "A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control." MATEC Web of Conferences 160 (2018): 06003. http://dx.doi.org/10.1051/matecconf/201816006003.
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A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to the leader-follower method. A kinematics controller is designed and the stability is proved by Lyapunov theory. Then the characteristic model of the dynamics inner loop is established. A sliding mode controller is designed based on the second order discrete model, and the stability of the closed-loop system is analyzed. Finally, simulations are designed in MATLAB and Microsoft Robotics Developer Studio 4 (MRDS) to verify the effectiveness of the proposed method.
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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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AYAZ, YASAR, KHALID MUNAWAR, MOHAMMAD BILAL MALIK, ATSUSHI KONNO, and MASARU UCHIYAMA. "HUMAN-LIKE APPROACH TO FOOTSTEP PLANNING AMONG OBSTACLES FOR HUMANOID ROBOTS." International Journal of Humanoid Robotics 04, no. 01 (March 2007): 125–49. http://dx.doi.org/10.1142/s0219843607000960.
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Unlike wheeled robots, humanoid robots are able to cross obstacles by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of the Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
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Clark, Jonathan E., and Mark R. Cutkosky. "The Effect of Leg Specialization in a Biomimetic Hexapedal Running Robot." Journal of Dynamic Systems, Measurement, and Control 128, no. 1 (December 1, 2005): 26–35. http://dx.doi.org/10.1115/1.2168477.
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The biologically inspired Sprawl family of hexapedal robots has shown that fast and stable running is possible with only open-loop control. Proper design of the passively self-stabilizing leg structure has enabled these robots to run at speeds of up to 15 bodylengths/s and over uneven terrain. Unlike other running robots built to date, the Sprawl robots’ front and rear legs are designed to preform distinct functional roles. Like the cockroaches that inspired them, the front legs of the robots act to lift and decelerate, while the rear legs provide the primary forward thrust. This paper uses a dynamic simulation to investigate the effect that changing the robot’s leg structure and posture has on its performance. The simulation results support our hypothesis that the use of a differential leg function induced through postural adjustments effectively trades efficiency for stability.
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Percy, Andrew, Ian Spark, Yousef Ibrahim, and Leon Hardy. "A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments." Robotica 29, no. 3 (July 21, 2010): 471–82. http://dx.doi.org/10.1017/s0263574710000317.
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SUMMARYThis paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analytical solution for a predetermined path. Further simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles and wheel speeds for a one, two and three segment robot.
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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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Wang, Zhou, Hongxing Dang, Tao Wang, and Bo Zhang. "Design and simulation analysis on underwater robots like reptiles." Journal of Physics: Conference Series 1550 (May 2020): 022016. http://dx.doi.org/10.1088/1742-6596/1550/2/022016.
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Saunders, Frank, Ethan Golden, Robert D. White, and Jason Rife. "Experimental verification of soft-robot gaits evolved using a lumped dynamic model." Robotica 29, no. 6 (January 28, 2011): 823–30. http://dx.doi.org/10.1017/s0263574711000014.
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SUMMARYWhen generating gaits for soft robots (those with no explicit joints), it is not evident that undulating control schemes are the most efficient. In considering alternative control schemes, however, the computational costs of evaluating continuum mechanic models of soft robots represent a significant bottleneck. We consider the use of lumped dynamic models for soft robotic systems. Such models have not been employed previously to design gaits for soft robotic systems, though they are widely used to simulate robots with compliant joints. A major question is whether these methods are accurate enough to be representations of soft robots to enable gait design and optimization. This paper addresses the potential “reality gap” between simulation and experiment for the particular case of a soft caterpillar-like robot. Experiments with a prototype soft crawler demonstrate that the lumped dynamic model can capture essential soft-robot mechanics well enough to enable gait optimization. Significantly, experiments verified that a prototype robot achieved high performance for control patterns optimized in simulation and dramatically reduced performance for gait parameters perturbed from their optimized values.
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DILLMANN, RÜDIGER, REGINE BECHER, and PETER STEINHAUS. "ARMAR II — A LEARNING AND COOPERATIVE MULTIMODAL HUMANOID ROBOT SYSTEM." International Journal of Humanoid Robotics 01, no. 01 (March 2004): 143–55. http://dx.doi.org/10.1142/s0219843604000046.
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This paper gives an overview on current and forthcoming research activities of the Collaborative Research Center 588 "Humanoid Robots — Learning and Cooperating Multimodal Robots" which is located in Karlsruhe, Germany. Its research activities can be divided into the following areas: mechatronic robot system components like lightweight 7 DOF arms, 5-fingered dexterous hands, an active sensor head and a spine type central body and skills of the humanoid robot system; multimodal man-machine interfaces; augmented reality for modeling and simulation of robots, environment and user; and finally, cognitive abilities. Some of the research activities are described in this paper, and we introduce the application scenario testing the robot system. In particular, we present a robot teaching center and the execution which is of type "household."
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Kumar, Surender, Kavita Rani, and V. K. Banga. "Robotic Arm Movement Optimization Using Soft Computing." IAES International Journal of Robotics and Automation (IJRA) 6, no. 1 (March 1, 2017): 1. http://dx.doi.org/10.11591/ijra.v6i1.pp1-14.
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<p class="Text">Robots are commonly used in industries due to their versatility and efficiency. Most of them operating in that stage of the manufacturing process where the maximum of robot arm movement is utilized. Therefore, the robots arm movement optimization by using several techniques is a main focus for many researchers as well as manufacturer. The robot arm optimization is This paper proposes an approach to optimal control for movement and trajectory planning of a various degree of freedom in robot using soft computing techniques. Also evaluated and show comparative analysis of various degree of freedom in robotic arm to compensate the uncertainties like movement, friction and settling time in robotic arm movement. Before optimization, requires to understand the robot's arm movement i.e. its kinematics behavior. With the help of genetic algorithms and the model joints, the robotic arm movement is optimized. The results of robotic arm movement is optimal at all possible input values, reaches the target position within the simulation time.</p>
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Sunardi, Sunardi, Julfansyah Margolang, Jhoni Hidayat, Iswandi Idris, and Rizaldy Khair. "Rancang Bangun Protoype Robot Navigasi Pemadam Api di Bandar Udara." Jurnal Sistem Komputer dan Informatika (JSON) 1, no. 3 (May 20, 2020): 273. http://dx.doi.org/10.30865/json.v1i3.2188.
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In aviation engineering, Aviation Safety must be an extreme concern for the government as a regulator / facilitator, each component of the Airport sub-system in conducting its operations must still prioritize flight safety and safety. In this case the supporting components and the utilization of AI technology are felt to be very necessary in order to complete the needs will Fulfill Flight Safety by utilizing robots as a medium. In general, robots can be defined as a mechanical device that is able to do human work or behave like humans. One of the human jobs that can be done by robots is fire fighting activities. In this study, researchers designed a Fire Extinguisher Robot to find and extinguish fire. The design of this robot uses an ultrasonic sensor HC-SR04 as a parameter for the robot's path when there are objects around and a fire sensor module as a detector for the presence of fire this robot uses MG995 servo that is useful as a controller hose from the water pump. The circuit in this robot has important components, the Arduino microcontroller functions as the brain of the robot and the L298P Motor Shield Driver functions as a DC motor drive module. If the robot detects a fire while walking, the robot will stop and extinguish the fire using water and candles are used as a fire simulation when a fire is happening.
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Cichon, Torben, Marc Priggemeyer, and Jürgen Rossmann. "Simulation-Based Control and Simulation-Based Support in eRobotics Applications." Applied Mechanics and Materials 840 (June 2016): 74–81. http://dx.doi.org/10.4028/www.scientific.net/amm.840.74.
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The utilization of simulation capabilities in the development process of robotic systems is already known as one standard procedure for predicting complex system behavior in a time- and cost efficient manner. eRobotics join multiple process simulation components to build "Virtual Testbeds" to provide a comprehensive tool chain and thus a holistic development. VTB may represent "mental models" of robotic systems and their environment. Therefore, they allow the development of control schemes and directly transfer simulation results for Simulation-based Control for implementing intelligent robot controls. Using Simulation-based Support, the VTBs support the ease of use of robotic systems and also the operators in their decisions. Offering an additional abstraction layer for the user, virtual representations of the robot and its environment are used to intuitively control and maneuver intelligent robotic systems. Thus, Simulation-based Control and Simulation-based Support complement each other and are promising development tools for robotic systems, individual parts thereof as well as systems in their entirety. In our contribution, we present the concepts of SbC and SbS in more detail, by examples of several complex robotic systems such as a Motion Simulator, lightweight robots and a mobile Centaur-like teleoperated robot.
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Kreimeier, Dieter, Jun Hong Zhu, and R. Laurischkat. "Integrated Process Design for Two Robots Based Incremental Sheet Metal Forming." Key Engineering Materials 504-506 (February 2012): 877–82. http://dx.doi.org/10.4028/www.scientific.net/kem.504-506.877.
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With the use of two industrial robots, Roboforming is a dieless incremental forming process, which is developed by the Chair of Production Systems at the Ruhr-University of Bochum. Connected to a cooperating robot system, these two robots hold respectively a forming and a supporting tool. Suitable for rapid prototyping and manufacture of small batch sizes with low costs, this forming process is based on flexible shaping through the synchronous movement of two industrial robots. Different from other single point incremental forming (SPIF) methods, the supporting tool used here greatly increases the geometric accuracy and the limited draw angle. A new processing technology always needs the computer-aided planning and simulation, which could accelerate the whole process and also give users the possibility to analyse and improve the process. In this paper, the whole integrated process design is introduced. After the modelling of the target CAD geometry, a self-developed CAM solution is used to get both tools’ positions and orientations according to the points on the geometrical surface. Based on the different forming strategies used, the supporting tool can even be synchronously placed at different positions on the sheet backside. After the tool path planning, the paths are first inputted into a simulation environment, which is consistent with the settings in the pilot plant. The tool positions and each robot’s postures can be seen and validated during the simulation. Before the final forming experiment, the tool paths are also sent into another simulation model for the forming analysis with the use of FEM technology. With consideration of many real material properties like springback and the subsequent deformation, the formed CAD geometry from the simulation is compared with the target CAD geometry and the forming results can be forecasted.
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Kano, Takeshi, Toshihiro Kawakatsu, and Akio Ishiguro. "Generating Situation-Dependent Behavior: Decentralized Control of Multi-Functional Intestine-Like Robot that can Transport and Mix Contents." Journal of Robotics and Mechatronics 25, no. 5 (October 20, 2013): 871–76. http://dx.doi.org/10.20965/jrm.2013.p0871.
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Most robots are designed to perform a specific task in a predefined environment and have difficulty in producing situation-dependent behavior. To tackle this problem, we focus here on a mammal intestine that either transports or mixes the contents depending on the encountered circumstances. We propose a simple model for the intestinal movement and design an autonomous decentralized control scheme for an intestine-like robot by using coupled oscillators with local sensory feedback. Simulation results show that different types of motions are generated depending on the the physical conditions of the intestine and its contents. Our simulated robot does not require any input from a higher center to switch between different types of motions but determines autonomously which motion to generate. This study thus paves the way for developing “multi-functional robots” whose behavior is changed flexibly and spontaneously depending on circumstances.
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Mombaur, Katja. "Using optimization to create self-stable human-like running." Robotica 27, no. 3 (May 2009): 321–30. http://dx.doi.org/10.1017/s0263574708004724.
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SUMMARYThis paper demonstrates how numerical optimization techniques can efficiently be used to create self-stable running motions for a human-like robot model. Exploitation of self-stability is considered to be a crucial factor for biological running and might be the key for success to make bipedal and humanoid robots run in the future. We investigate a two-dimensional simulation model of running with nine bodies (trunk, thighs, shanks, feet, and arms) powered by external moments at all internal joints. Using efficient optimal control techniques and stability optimization, we were able to determine model parameters and actuator inputs that lead to fully open-loop stable running motions.
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Su, Hang, Nima Enayati, Luca Vantadori, Andrea Spinoglio, Giancarlo Ferrigno, and Elena De Momi. "Online human-like redundancy optimization for tele-operated anthropomorphic manipulators." International Journal of Advanced Robotic Systems 15, no. 6 (November 1, 2018): 172988141881469. http://dx.doi.org/10.1177/1729881418814695.
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Robot human-like behavior can enhance the performance of human–robot cooperation with prominently improved natural interaction. This also holds for redundant robots with an anthropomorphic kinematics. In this article, we translated human ability of managing redundancy to control a seven degrees of freedom anthropomorphic robot arm (LWR4+, KUKA, Germany) during tele-operated tasks. We implemented a nonlinear regression method—based on neural networks—between the human arm elbow swivel angle and the hand target pose to achieve an anthropomorphic arm posture during tele-operation tasks. The method was assessed in simulation and experiments were performed with virtual reality tracking tasks in a lab environment. The results showed that the robot achieves a human-like arm posture during tele-operation, and the subjects prefer to work with the biologically inspired robot. The proposed method can be applied in control of anthropomorphic robot manipulators for tele-operated collaborative tasks, such as in factories or in operating rooms.
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Ayoubi, Younsse, Med Amine Laribi, Marc Arsicault, and Saïd Zeghloul. "Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations." Applied Sciences 10, no. 11 (May 30, 2020): 3810. http://dx.doi.org/10.3390/app10113810.
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Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes—high and low stiffness—V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human–robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM’s effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, MathWorks, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations.