Shape-based compliant control with variable coordination centralization on a snake robot

2016 IEEE 55th Conference on Decision and Control (CDC) ◽

10.1109/cdc.2016.7799059 ◽

2016 ◽

Cited By ~ 7

Author(s):

Julian Whitman ◽

Francesco Ruscelli ◽

Matthew Travers ◽

Howie Choset

Keyword(s):

Snake Robot ◽

Compliant Control ◽

Variable Coordination

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Deep Q Reinforcement Learning for Autonomous Navigation of Surgical Snake Robot in Confined Spaces

10.31256/hsmr2019.18 ◽

2019 ◽

Author(s):

S Athiniotis ◽

◽

R A Srivatsan ◽

H Choset

Keyword(s):

Reinforcement Learning ◽

Autonomous Navigation ◽

Snake Robot ◽

Confined Spaces

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Adaptive Snake Robot Locomotion in Different Environments

2020 International Conference on Control, Automation and Diagnosis (ICCAD) ◽

10.1109/iccad49821.2020.9260561 ◽

2020 ◽

Author(s):

Yesim A. Baysal ◽

Ismail H. Altas

Keyword(s):

Snake Robot ◽

Robot Locomotion

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Variable coordination behaviour of pyrazole-containing N,P and N,P(O) ligands towards palladium(ii)

Dalton Transactions ◽

10.1039/b704051b ◽

2007 ◽

pp. 2823 ◽

Cited By ~ 17

Author(s):

Steven Kealey ◽

Nicholas J. Long ◽

Philip W. Miller ◽

Andrew J. P. White ◽

Peter B. Hitchcock ◽

...

Keyword(s):

Coordination Behaviour ◽

Variable Coordination

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Motion Planning for a Snake Robot using Double Deep Q-Learning

2021 International Conference on Artificial Intelligence (ICAI) ◽

10.1109/icai52203.2021.9445200 ◽

2021 ◽

Author(s):

Semab Neimat Khan ◽

Tallat Mahmood ◽

Syed Izzat Ullah ◽

Khawar Ali ◽

Anayat Ullah

Keyword(s):

Motion Planning ◽

Snake Robot ◽

Q Learning

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Porous lanthanide–copper coordination frameworks exhibiting reversible single-crystal-to-single-crystal transformation based on variable coordination number and geometry

CrystEngComm ◽

10.1039/b712280b ◽

2008 ◽

Vol 10 (5) ◽

pp. 598 ◽

Cited By ~ 31

Author(s):

Junwei Ye ◽

Yu Liu ◽

Yunfeng Zhao ◽

Xiaoyue Mu ◽

Ping Zhang ◽

...

Keyword(s):

Single Crystal ◽

Coordination Number ◽

Crystal Transformation ◽

Copper Coordination ◽

Variable Coordination ◽

Coordination Frameworks

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Learning to Locomote with Artificial Neural-Network and CPG-based Control in a Soft Snake Robot

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros45743.2020.9340763 ◽

2020 ◽

Author(s):

Xuan Liu ◽

Renato Gasoto ◽

Ziyi Jiang ◽

Cagdas Onal ◽

Jie Fu

Keyword(s):

Neural Network ◽

Artificial Neural Network ◽

Snake Robot ◽

Artificial Neural

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A Compliant Control Method and Its Ground Verification Experiment of A Space Robot

2020 IEEE International Conference on Mechatronics and Automation (ICMA) ◽

10.1109/icma49215.2020.9233792 ◽

2020 ◽

Author(s):

Xiaojun Zhu ◽

Kangkang Dong ◽

Hanxu Sun ◽

Bin Liang ◽

Houde Liu

Keyword(s):

Control Method ◽

Space Robot ◽

Compliant Control

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Cooperative Effects of Cation Size and Variable Coordination Modes of Te4+on the Frameworks of New Alkali Metal Indium Tellurites, NaIn(TeO3)2, KIn(TeO3)2, RbInTe3O8, and CsInTe3O8

Inorganic Chemistry ◽

10.1021/ic502108a ◽

2014 ◽

Vol 53 (20) ◽

pp. 11328-11334 ◽

Cited By ~ 27

Author(s):

Su-whan Bae ◽

Choong-Yeol Kim ◽

Dong Woo Lee ◽

Kang Min Ok

Keyword(s):

Alkali Metal ◽

Coordination Modes ◽

Cooperative Effects ◽

Cation Size ◽

Variable Coordination

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Design and Modeling of a Snake Robot Based on Worm-Like Locomotion

Advanced Robotics ◽

10.1163/156855311x617498 ◽

2012 ◽

Vol 26 (5-6) ◽

pp. 537-560 ◽

Cited By ~ 8

Author(s):

Alireza Akbarzadeh ◽

Hadi Kalani

Keyword(s):

Snake Robot

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A compliant control method for disassembly of non-elastic parts using realised motion

Robotica ◽

10.1017/s0263574700018671 ◽

1995 ◽

Vol 13 (6) ◽

pp. 591-598 ◽

Cited By ~ 1

Author(s):

Yagmur Denizhan

Keyword(s):

Control Method ◽

Recognition System ◽

Automatic Recognition ◽

Human Operator ◽

Control Methods ◽

Compliant Control ◽

On Line

SummaryIn disassembly tasks, due to the large variety of objects and the different positions and orientations in which they appear, the disassembly trajectories supplied on-line by a human operator or an automatic recognition system can contain large errors. The classical compliant control methods turn out to be insufficient to eliminate sticking which is due to these errors. This paper presents a compliant control method for disassembly of non-elastic parts in non-elastic environments which adopts the trajectories according to realised motion. In case of sticking a new direction of motion is searched for until the manipulated part is set into motion.

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