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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...
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...
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...
The rhythmic locomotion of a creature is a self-excitation behavior of the CPG (central pattern generator), which makes it supremely adapted for environment. Based on this fact, firstly, a snake-like robot controller with cyclic inhibitory CPG model was designed, and then the stability of a single neuron, CPG model and the NON (neuron oscillator network) was analyzed. By implementing this control...
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...
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