Investigation of self-locking in concertina movement

Minimization of actuators torque in snake robots, reduces the energy consumption and the robot dimensions. In this paper a mathematical model for concertina movement is developed. The formulation is then used to show how torque is optimized in this type of locomotion. The result of optimization was the self-locking property. If self-locking property occurs, zero actuator torque is needed to maintain the robot at a given position.

[1]  Joel W. Burdick,et al.  The Geometric Mechanics of Undulatory Robotic Locomotion , 1998, Int. J. Robotics Res..

[2]  Shraga Shoval,et al.  Design of a spider-like robot for motion with quasi-static force constraints , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[3]  Gregory S. Chirikjian,et al.  Kinematically optimal hyper-redundant manipulator configurations , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[4]  Shraga Shoval,et al.  Immobilization based control of spider robots in tunnels environment , 2000, 21st IEEE Convention of the Electrical and Electronic Engineers in Israel. Proceedings (Cat. No.00EX377).

[5]  Gregory S. Chirikjian,et al.  A modal approach to hyper-redundant manipulator kinematics , 1994, IEEE Trans. Robotics Autom..

[6]  J. Gray,et al.  The Kinetics of Locomotion of the Grass-Snake , 1950 .

[7]  C. Cullen.  An Introduction to Numerical Linear Algebra , 1993 .

[8]  J. Gray.  The mechanism of locomotion in snakes. , 1946, The Journal of experimental biology.

[9]  Hamdy A. Taha,et al.  Operations research: an introduction / Hamdy A. Taha , 1982 .

[10]  Johann Borenstein,et al.  The kinematic design of the OmniPede: a new approach to obstacle traversion , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[11]  Jean-Arcady Meyer,et al.  Biologically Inspired Robots , 2008, Springer Handbook of Robotics.

[12]  Auke Jan Ijspeert,et al.  Swimming and Crawling with an Amphibious Snake Robot , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[13]  Ismet Erkmen,et al.  Logical sensing and intelligent perception based on rough sets and dynamic decay adjustment learning , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[14]  Tetsuya Iwasaki,et al.  Serpentine locomotion with robotic snakes , 2002 .

[15]  Yong-San Yoon,et al.  Stabilization constraint method for torque optimization of a redundant manipulator , 1997, Proceedings of International Conference on Robotics and Automation.

[16]  Wei-Hsin Liao,et al.  A Snake Robot Using Shape Memory Alloys , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[17]  H. W. Lissmann.  Rectilinear Locomotion in a Snake ( Boa Occidentalis ) , 1950 .

[18]  Hamdy A. Taha,et al.  Operations Research: An Introduction (8th Edition) , 2006 .

[19]  Bin Li,et al.  Analysis of creeping locomotion of a snake robot on a slope , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[20]  Shugen Ma,et al.  Dynamic analysis of 3-dimensional snake robots , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[21]  Martin Nilsson.  Serpentine locomotion on surfaces with uniform friction , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[22]  Ismet Erkmen,et al.  Intelligent gait synthesizer for serpentine robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[23]  Shugen Ma,et al.  Dynamic Analysis of a 3-Dimensional Snake Robot , 2004 .

[24]  Fumitoshi Matsuno,et al.  Bottom-up and top-down approaches to dynamics of hyper-redundant mechanical systems , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).