We present three methods of achieving compliant motion with a snake robot by controlling the torques exerted by the joints of the robot. Thus, we studied both design and control of snakelike robots for realworld. Implementing this strategy in a physical robot model of the snake enables the device to ascend sandy slopes close to the angle of maximum slope stability. A snake robot is a robotic mechanism designed to move like a biological snake. The mechanical design of snakearm robot ieee conference. We propose a biomimetic approach for steering motion control of a snake robot. It is constructed of a series of articulated links, each one with a motor and linear solenoid. These capabilities have spurred an extensive research activity investigating the design and control of snake robots. Moreover, we accomplished two modes of control, centralized control and distributed control, on our snakelike. Snake like robot is applied to all hyper redundant robots those are. Our control strategy is only control the position of the head of a snakelike robot and. Pettersen abstract this paper considers the problem of model based control of the joints of a snake robot without wheels. A third strategy commands joint angles, velocities, and torques based on the recorded feedback from the robot while executing a previously defined.
Inspired by a vertebrate biological motor system paradigm, a hierarchical control scheme is adopted. Many factors such as size, power, and weight constrain the design of modular snake robots. The proposed dynamic analysis was performed in order to determine the variation timefrequency laws. Studying the snake and robot together was a reciprocally illuminating process. This thesis presents the design and control of a cableactuated mobile snake robot.
Travers 2 and howie choset 2 abstract limbless locomotion, evidenced by both biological and robotic snakes, capitalizes on these systems redundant. Theoretical modeling and experimental analysis of a pressureoperated soft robotic snake ming luo,1,2 mahdi agheli,3 and cagdas d. We accomplish this by introducing a novel method to constructing a body frame for the robot. Locomotive reduction for snake robots xuesu xiao 1, ellen cappo 1, weikun zhen 1, jin dai 1, ke sun 1, chaohui gong 1, matthew j. The talk presents a mathematical model of a swimming snake robots. The model is simulated using measured physical parameters of a soft snake robot prototype. Preface robot snake is a branch of robot technology, which is different from the traditional robot with wheels, legs, or tracks. Estimating motion of snake robots in straight pipes. Control strategies for snake robots with coupled joints are. Onal1,3 abstract for a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a fundamental requirement for. Next methods and processes of making designed components was described. Motion estimation of snake robots in straight pipes florian enner, david rollinson and howie choset abstract we present a method of estimating a snake robots motion inside and outside of straight pipes using only knowledge of the robots joint angles. Pdf developments in snake robot modeling and locomotion. Climbing robots in natural terrain stanford ai lab.
Climbing robots in natural terrain timothy bretl, teresa miller, and stephen rock jeanclaude latombe. Cowan department of mechanical engineering the johns hopkins university baltimore, maryland 212182681. This paper aims to provide details of recent snake robot research, products and applications. Faced with the problem of proving that a control strategy for the snake robot satisfies some control objective, an attractive idea is to base the controller analysis on a simplified model of the. Smart materialactuated flexible tendonbased snake robot. Design and motion planning of a mechanical snake systems. The control of locomotion of the robot is also creating a problem due to its length and wired controlled. Gupta department of mechanical engineering and institute for systems research university of maryland college park, maryland 20742 abstract body undulation used by snakes and the physical architecture of a snake body may offer. Snake robot locomotion patterns for straight and curved.
Our laboratory experiments reveal that as granular incline angle increases, sidewinder rattlesnakes increase the length of their body in contact with the sand. Steering motion control of a snake robot via a biomimetic. For the straight pipe locomotion was designed traveling wave locomotion pattern with sinelike wave which expands from rear of the robot to its front. In this research, the dynamic manipulability of a snakelike robot wd is defined as the ratio of two singular values wd p2pi, and the locomotability of a snakelike robot is evaluated by wd.
A flexible snake robot has better navigation ability compare with the existing electrical motorbased rigid snake robot. Design, analysis, and fabrication of a snakeinspired robot with a rectilinear gait by brent william spranklin thesis submitted to the faculty of the graduate school of the university of maryland, college park in partial fulfillment of the requirements for the degree of master of science 2006 advisory committee. To view the full text please use the links above to select your preferred. Download snake robots seminar report, ppt, pdf, snake robots ppt, snake robots topics, abstracts, documentation. Abstract this paper presents a general framework for plan. Telemanipulation of snakelike robots for minimally.
Abstract the elephant trunk robot comes under the class of biologically inspired robots that mimic the behaviour of their biological. The kinematics is similar regardless of whether the snake robot moves on ground or in water, while the dynamics differs for landbased and underwater snake robots. Design, analysis, and fabrication of a snake inspired robot with a rectilinear gait by brent william spranklin thesis submitted to the faculty of the graduate school of the university of maryland, college park in partial fulfillment of the requirements for the degree of master of science 2006 advisory committee. Meeting these constraints requires implementing a complex mechanical and electrical architecture.
A novel architecture for modular snake robots aaron johnson, cornell wright, matthew tesch, kevin lipkin, and howie choset abstract we have designed a snake robot, a hyperredundant serial linkage of many actuators, that uses a modular architecture. Design and architecture of the unified modular snake robot. In addition, control which allows the robot to adapt to its environment is also essential. Actuation compensation for flexible surgical snakelike. Pdf design and motion planning of a mechanical snake. Based on can bus technologies, we developed a control system for a snakelike robot, which controls the movement of the snakelike robot effectively. Swimming locomotion of soft robotic snakes isuru s. Finally, functional tests of a constructed real robot model such. A snakelike robot for realworld inspection applications. Parameter optimization of a snake robot using taguchi method. A flexible snake robot has better navigation ability compare with the existing electrical motorbased rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper presents a reconfigurable modular mechanismrubik snake robot, which can change its configurations by changing the position relationship of modules. Although each link has only one motor, this structure allows the body configuration to be easily controlled. In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe.
Research on snakelike robots expands the fields of application of robots. In order to inspect narrow and unstructured environments such as disaster sites, snakelike robots should have rugged construction, but at the same time be sufficiently sensitive to detect contact with their environments. After analyzing snake body structure, the paper introduces a novel structural design of bionic snakelike robot which can qualify 3d movement. Explore snake robot with free download of seminar report and ppt in pdf and doc format. The robot can simulate the real snake to do such action as winding, turning, spiraling, rising head and ducktail etc. Design and control of a cabledriven articulated modular. Dynamical modeling and control of modular snake robots. The goal of this research is to reduce the size of snake robots and improve their locomotive efficiency by simultaneously actuating groups of links to fit optimized curvature profiles.
Design and realization of snakelike robot control system. Actuation compensation for flexible surgical snakelike robots with redundant remote actuation kai xu, nabil simaan. Design and realize a snakelike robot in complex environment. Algorithmic gait synthesis for a snake robot 1columbia university, new york usa gagan khandate1, emily hannigan1, maximilian haasheger1, bing song1, ji yin1 and matei ciocarlie1 abstract snake robots are articulated and slender which allows them to reach con. Abstract snake robots may one day play a crucial role in search and r esc ue operations and. This paper introduces the equations of motion of modular 2d snake robots moving in vertical plane employing series elastic actuators seas. Telemanipulation of snakelike robots for minimally invasive surgery of the upper airway ankur kapoor1, kai xu2, wei wei2, nabil simaan2, and russell h.
Pdf bionic research on concertina motion of a snakelike. Knepper2, howie choset3, david rollinson3, chaohui gong3, and enric galceran4 abstract highly articulated robot locomotion systems, such as snake robots, present special motion planning challenges. The theoretical results are verified through a detailed comparison to locomotion experiments on a flat surface with measured frictional properties. Two strategies command joint torques based solely on the robots local curvature i. Our design considers size, power, weight, and tradeoffs among these criteria. Coral snakes genus micrurus and their mimics use vigorous, nonlocomotory, and arrhythmic thrashing to deter predation.
Development of robotic vehicles becomes an important tool to explore the humans life. Bionic research on concertina motion of a snakelike robot. Experimental results confirm that the proposed model describes the motion of the robot accurately. For the straight pipe locomotion was designed traveling wave locomotion pattern with sinelike. This generator outputs the coordinated desired joint angle commands to each. Structural design and research of the bionic snakelike robot. Abstract bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Prototype design of a rubik snake robot springerlink. The structure of the robot enables it to move without wheels.
Aiming at high performance requirements of snakelike robots under complex environment, we present a control system of our proposed design which utilizes a stm32 as the core processor and incorporates realtime image acquisition, multisensor fusion, and wireless communication technology. This robot has three hollow slender segments composed of balljoints driven by steel cables. Snakearm robots with a slender and flexible body have many potential applications in aerospace, nuclear and surgery industry. Design and motion planning of a mechanical snake yansong shan and yoram koren, senior member, ieee abstract the paper presents the design and motion planning for a mechanical snake robot that was built at the university of michigan. The paper presents the design and motion planning for a mechanical snake robot that was built at the university of michigan. Abstract background surgical instruments greatly impact the performance of robot. Theoretical modeling and experimental analysis of a.
Snake, known commonly as cardio arm, is an imagingsensing navigated and kinematically enhancedisnake. The main aim of the paper is to present the process of design pipe inspection mobile robot by using 3d simulations. Download seminar report for snake robots, abstract, pdf, ppt. Modal analysis consist in determination of own vibration modes and natural frequencies. Snake robot seminar report, ppt, pdf for electrical. Abstract this paper presents a softrobotic platform for exploring the ecological relevance of nonlocomotory movements via animalrobot interactions. Use of 3d simulation to design theoretical and real pipe.
This snakelike robot is designed for distal dexterity enhancement in mis surgery of the. Examples of applications are then provided and are followed by brief conclusions. An autonomous locomotion control of a multijoint snake. In this paper a modal and dynamic analysis of a snake like robot is performed. Available formats pdf please select a format to send. Also, a snake robot is a highly articulated robot manipulator arm with the capability of providing its own propulsion. The research on remote control robot snake driving by.
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