A Creeping Snake-like Robot with Partial Actuation

被引：0
|
作者：
Cao, Yiming [1 ]
Li, Longchuan [1 ,2 ]
Ma, Shugen [1 ]
机构：
[1] Ritsumeikan Univ, Grad Sch Sci & Engn, 1-1-1 Nojihigashi, Kusatsu, Shiga 5258577, Japan
[2] Beijing Univ Chem Technol, Coll Informat Sci & Technol, Beijing, Peoples R China
来源：
2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2022年
关键词：
WALKING;
D O I：
10.1109/IROS47612.2022.9981782
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Enlightened by the creeping gait of natural snakes, snake-like robots swing joints side to side at similar tracks for generating propelling forces. However, it is not always essential to control all joints of a snake-like robot to realize the creeping gait. Therefore, in this paper, a creeping snake-like robot with partially actuated joints has been investigated, towards reducing the redundancy caused by full actuation. Essentially, this approach is composed of the following two concepts: 1) joint equipped with torsion spring mechanism bridges the passive joint to generate rhythm oscillation, and 2) harmonic joint trajectories assist the robot in generating more efficient locomotion. We hereafter demonstrated that the actuated joint dominates passive dynamics of the system, which contributes to overall motion. Meanwhile, different spring stiffness affects the motion performance. Additionally, the interaction between robot and environment through Coulomb friction has been considered to reveal the contributing factors that assist the snake-like robot to yield better locomotion performance.
引用
收藏
页码：1202 / 1207
页数：6
相关论文
共 50 条
  • [11] Development of a snake-like robot
    Bezgovsek, Jure
    Grabec, Igor
    Muzic, Peter
    Govekar, Edvard
    STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING, 2008, 54 (02): : 148 - 153
  • [12] Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change
    Wu, Xiaodong
    Ma, Shugen
    AUTONOMOUS ROBOTS, 2010, 28 (03) : 283 - 294
  • [13] Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change
    Xiaodong Wu
    Shugen Ma
    Autonomous Robots, 2010, 28 : 283 - 294
  • [14] Analysis of creeping locomotion of snakes and snake-like robots
    Shugen, MA
    2001 INTERNATIONAL WORKSHOP ON BIO-ROBOTICS AND TELEOPERATION, PROCEEDINGS, 2001, : 60 - 67
  • [15] Structure and analysis of a snake-like robot
    Kulkarni, Anjah V.
    Chawla, Ravdeep
    INNOVATIVE ALGORITHMS AND TECHNIQUES IN AUTOMATION, INDUSTRIAL ELECTRONICS AND TELECOMMUNICATIONS, 2007, : 43 - +
  • [16] Development of An Amphibious Snake-like Robot
    Li, Bin
    Ma, Shugen
    Ye, Changlong
    Yu, Shumei
    Zhang, Guowei
    Gong, Haili
    2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 613 - 618
  • [17] Modeling friction for a snake-like robot
    Skonieczny, Krzysztof
    D'Eleuterio, Gabriele M. T.
    ADVANCED ROBOTICS, 2008, 22 (05) : 573 - 585
  • [18] Simulation of a novel snake-like robot
    Aubin, R.
    Blazevic, P.
    Guyvarch, J. -P.
    CLIMBING AND WALKING ROBOTS, 2006, : 875 - 882
  • [19] Construction and operation of a snake-like robot
    Worst, R
    Linnemann, R
    IEEE INTERNATIONAL JOINT SYMPOSIA ON INTELLIGENCE AND SYSTEMS, PROCEEDINGS, 1996, : 164 - 169
  • [20] Generalized Singularity Analysis of Snake-Like Robot
    Nansai, Shunsuke
    Iwase, Masami
    Itoh, Hiroshi
    APPLIED SCIENCES-BASEL, 2018, 8 (10):
12345