Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot

In a recent paper, the authors have proposed a control strategy for a snake robot during obstacle-aided locomotion. In this paper, experimental results are presented where the controller is shown to successfully maintain the forward propulsion of a physical snake robot in a course with different obstacle configurations.

[1]  Joel W. Burdick,et al.  Gait kinematics for a serpentine robot , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  広瀬 茂男,et al.  Biologically inspired robots : snake-like locomotors and manipulators , 1993 .

[3]  Yoshihiro Takita,et al.  Adaptive locomotion of a snake like robot based on curvature derivatives , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Pål Liljebäck,et al.  Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion , 2010, IEEE Transactions on Robotics.

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

[6]  Bin Li,et al.  Turning and side motion of snake-like robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[7]  Pierre Blazevic,et al.  Understanding Snakelike Locomotion Through a Novel Push-Point Approach , 2005 .

[8]  Jean-Jacques E. Slotine,et al.  A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[9]  Gianluca Antonelli,et al.  Prioritized closed-loop inverse kinematic algorithms for redundant robotic systems with velocity saturations , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  A. Kuwada,et al.  Automatic pipe negotiation control for snake-like robot , 2008, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[11]  Zeki Y. Bayraktaroglu.  Snake-like locomotion : Experimentations with a biologically inspired wheel-less snake robot , 2009 .

[12]  Joris De Schutter,et al.  Extending iTaSC to support inequality constraints and non-instantaneous task specification , 2009, 2009 IEEE International Conference on Robotics and Automation.

[13]  J. Navarro-Pedreño.  Numerical Methods for Least Squares Problems , 1996 .

[14]  R. Sanfelice,et al.  Hybrid dynamical systems , 2009, IEEE Control Systems.

[15]  Nikolaus Correll,et al.  SwisTrack - a flexible open source tracking software for multi-agent systems , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Shigeo Hirose,et al.  Biologically Inspired Robots: Snake-Like Locomotors and Manipulators , 1993 .

[17]  K.S. Peterson,et al.  Control of a Snake-Like Robot in an Elastically Deformable Channel , 2008, IEEE/ASME Transactions on Mechatronics.

[18]  B. Faverjon,et al.  A local based approach for path planning of manipulators with a high number of degrees of freedom , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[19]  William Whittaker,et al.  Limbless locomotion: learning to crawl with a snake robot , 1997 .

[20]  Pål Liljebäck,et al.  Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments , 2008, IEEE Transactions on Robotics.

[21]  Felix L. Chernousko,et al.  Modelling of snake-like locomotion , 2005, Appl. Math. Comput..

[22]  Ronan Boulic,et al.  Progressive Cartesian Inequality Constraints for the Inverse Kinematic Control of Articulated Chains , 2005, Eurographics.

[23]  Nicolas Mansard,et al.  Task Sequencing for High-Level Sensor-Based Control , 2007, IEEE Transactions on Robotics.

[24]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

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

[26]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[27]  Yoram Koren,et al.  Potential field methods and their inherent limitations for mobile robot navigation , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[28]  Oussama Khatib,et al.  Control of Free-Floating Humanoid Robots Through Task Prioritization , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[29]  Oussama Khatib,et al.  The Potential Field Approach And Operational Space Formulation In Robot Control , 1986 .

[30]  Pål Liljebäck,et al.  A snake robot with a contact force measurement system for obstacle-aided locomotion , 2010, 2010 IEEE International Conference on Robotics and Automation.

[31]  Houxiang Zhang,et al.  Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots , 2007 .

[32]  Shugen Ma,et al.  Analysis of Creeping Locomotion of a Snake-like Robot on a Slope , 2001, Auton. Robots.

[33]  C. Gans,et al.  Kinematics, muscular activity and propulsion in gopher snakes , 1998, The Journal of experimental biology.

[34]  Yoram Koren,et al.  Design and motion planning of a mechanical snake , 1993, IEEE Trans. Syst. Man Cybern..

[35]  Oussama Khatib,et al.  A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks , 2009, IEEE Transactions on Robotics.