Locomotion Efficiency Optimization of Biologically Inspired Snake Robots

Eleni Kelasidi; Mansoureh Jesmani; Kristin Pettersen; Jan Gravdahl

doi:10.3390/app8010080

Locomotion Efficiency Optimization of Biologically Inspired Snake Robots

Applied Sciences ◽

10.3390/app8010080 ◽

2018 ◽

Vol 8 (1) ◽

pp. 80 ◽

Cited By ~ 11

Author(s):

Eleni Kelasidi ◽

Mansoureh Jesmani ◽

Kristin Pettersen ◽

Jan Gravdahl

Keyword(s):

Biologically Inspired ◽

Efficiency Optimization ◽

Snake Robots

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Design of Propulsive Virtual Holonomic Constraints for Planar Snake Robots

Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications ◽

10.1115/dscc2017-5159 ◽

2017 ◽

Cited By ~ 1

Author(s):

Alireza Mohammadi

Keyword(s):

Hyperbolic Partial Differential Equations ◽

Biologically Inspired ◽

Friction Forces ◽

Holonomic Constraints ◽

Biologically Inspired Robots ◽

Analysis And Synthesis ◽

Recent Developments ◽

Synthesis Methodology ◽

Virtual Holonomic Constraints ◽

Snake Robots

Virtual holonomic constraints (VHCs) framework is a recent control paradigm for systematic design of motion controllers for wheel-less biologically inspired snake robots. Despite recent developments for VHC-based control systems for ground and underwater robotic snakes, they employ only two families of propulsive virtual holonomic constraints, i.e., lateral undulatory and eel-like virtual constraints. In this paper we extend the family of propulsive virtual constraints that can be used with VHC-based controllers by presenting a VHC analysis and synthesis methodology for planar snake robots that are subject to ground friction forces. In particular, we present a nonlinear differential inequality that guarantees forward motion of planar snake robots under the influence of VHCs. Furthermore, we provide a family of hyperbolic partial differential equations that can be employed to generate propulsive virtual holonomic constraints for these biologically inspired robots. Simulations are presented to verify the proposed analysis/synthesis methodology.

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Body shape and orientation control for locomotion of biologically-inspired snake robots

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics ◽

10.1109/biorob.2014.6913910 ◽

2014 ◽

Cited By ~ 5

Author(s):

Ehsan Rezapour ◽

Kristin Y. Pettersen ◽

Jan T. Gravdahl ◽

Pal Liljeback

Keyword(s):

Body Shape ◽

Biologically Inspired ◽

Orientation Control ◽

Snake Robots

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A survey on snake robot modeling and locomotion

Robotica ◽

10.1017/s0263574709005414 ◽

2009 ◽

Vol 27 (7) ◽

pp. 999-1015 ◽

Cited By ~ 111

Author(s):

Aksel Andreas Transeth ◽

Kristin Ytterstad Pettersen ◽

Pål Liljebäck

Keyword(s):

Mathematical Models ◽

Biologically Inspired ◽

Motion Patterns ◽

Snake Robot ◽

Kinematic Models ◽

Robot Modeling ◽

Snake Robots

SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10–15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

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