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In order to understand the mechanism of artificial CPG (Central Pattern Generator) neuron system for the locomotion control of snake-like robot, a MNSM (Mirror Neuron System Mechanism)-based controller is developed for swimming locomotion in this paper. In this neuron system, the rhythmic swimming motion generated by CPG neuron network is perceived by another MNSM-based controller, and it generate...
Reducing the energy dissipation can improve the movement efficiency of a snake-like robot. Avoiding side slipping is the main way to reduce the energy dissipation. A creeping control method for the snake-like robot, named optimal passive creeping, is proposed. This method makes the robot avoid slipping by inputting the proper torque which is adjusted by its body shape. The purpose of the control method...
Direction control is an important part of the study on the snake-like robot. A direction control algorithm which is based on the passive creeping, named continuous direction control, is proposed. This method controls the movement direction of the robot's head by the exponential function of the reference angle amplitude, and makes the body follow the head by adjusting the torque amplitude of the body...
The control of a snake-like robot is a challenging problem because of unknown environments and complex dynamics. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. In the paper, we present a hypothesis that the energy state of the robot can influence the locomotor adaptation. And then we lay emphasis on experiments in order to test the hypothesis...
This paper presents an amphibious snake-like robot's design. This amphibious snake-like robot, mainly composed by 8 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. The control equations for each gait are introduced. Due to its special joint design and the feature of being densely covered by vanes, the robot is...
In this paper, we propose a new CPG model for the snake-like robot being able to adapt to different environments. This model can produce typical serpentine, sidewinding and traveling wave locomotion gaits and switch between them automatically based on a simple input signal. The stability of this model is verified and the parameter restrictions are determined. Then, we investigate the relationship...
The control of a snake-like robot is a challenging problem because of the complex dynamics. In this paper, we present a novel method, called passive creeping, to control the serpentine locomotion of the snake-like robot. The kernel of this method is composed of the following two concepts: 1) dynamic shift brings the tendency toward the serpentine locomotion; and 2) energy links the environments and...
A snake-like robot can locomote in various environments; and it can manipulate objects when one end is fixed. A method of dynamic modeling for locomotion-manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. A virtual structure for orientation and position and the product-of-exponentials formula describe the mechanism and the kinematics of the robot...
This paper presents an amphibious snake-like robot's design and its omnipotent locomotion ability both on the land and in the water. This amphibious snake-like robot, mainly composed by 9 modular universal units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. In this paper, we concentrate on the gait diversity of the amphibious snake-like...
This paper presents our work on analysis of helical gait for snake-like robots. Although helical gait of snake-like robots was realized before, there is no any intensive investigation about the relationship between its performance and the control parameter settings. In this paper, we firstly introduce our SIA snake-like robot and its helical gait equations, then derive the snake-like robotpsilas body...
Snake-like robots exhibited more advantages than conventional mobile robots on environment adaptation. They almost can move in most ill conditions including rough terrain, desert, water, cave and tree. In this paper, a 3D snake-like robot called Perambulator-II (Shenyang Institute of Automation snake-like robot II) is developed with the acquirement of powerful propulsion and high mobility. The unit...
With slim and legless body, particular ball articulation and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory CPG model is firstly applied to imitate the pattern generation...
With 3D (3-dimensional) movement's ability and rhythmic locomotion mode, a nature snake makes itself survive in rugged terrains. The rhythmic activities of most creatures are generated by the CPG (central pattern generator). Based on this fact, the sustained-type neuron has been adopted to construct a cyclic inhibitory CPG model for a snake-like robot whose joints are perpendicularly connected in...
In order to perform the urban search and rescue task in dangerous condition, a novel robot named Amoeba II is designed based on synthesis of the snake-like robot and the tracked vehicle. It can transform its body shape to adapt to the environment. On the one hand, this robot adopts the tracked drive mechanism to acquire high performance on the climb. On the other hand, this robot is portable due to...
As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics...
Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the biological snakes' locomotion mode on the diverse ground, and describes the environment-adaptable locomotion of a snake-like robot. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test
To acquire more environmental information for planning further tasks, the snake-like robot has to raise its head to observe the situation at a high position due to its low-height stature, which resembles the head-raising motion of the natural snake. In this paper, the motion of snake-like robot raising head is realized by improving the serpentine input function, and two methods of head raising motion...
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