The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper we apply a policy improvement algorithm called Policy Improvement with Path Integrals (PI2) to generate goal-directed locomotion of a complex snake-like robot with screw-drive units. PI2 is numerically simple and has an ability to deal with high dimensional systems. Here, this approach is used to find proper locomotion control parameters, like joint angles and screw-drive velocities,...
Central pattern generators (CPGs) play a crucial role for animal locomotion control. They can be entrained by sensory feedback to induce proper rhythmic patterns and even store the entrained patterns through connection weights. Inspired by this biological finding, we use four adaptive neural oscillators with synaptic plasticity as CPGs for locomotion control of our real snake-like robot with screw-drive...
In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws’ angular velocities. We also derive a kinematic model and apply it to trajectory...
This paper presents a front-unit-following control method for a snake-like robot using screw drive mechanism. The operators are required to command only one unit in the head, then commands for the rest of the units are automatically calculated to track the path of the preceding units. The proposed method estimates the tracking error expressed in the Frenet frame using past velocity commands in order...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.