Related papers: Snake and Snake Robot Locomotion in Complex, 3-D T…
It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Limbless animals such as snakes, limbless lizards, worms, eels, and lampreys move their slender, long bodies in three dimensions to traverse diverse environments. Accurately quantifying their continuous body's 3-D shape and motion is…
To traverse complex three-dimensional terrainwith large obstacles, animals and robots must transition across different modes. However, the most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize…
Limbless organisms such as snakes can navigate nearly all terrain. In particular, desert-dwelling sidewinder rattlesnakes (Crotalus cerastes) operate effectively on inclined granular media (such as sand dunes) that induce failure in…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
Effective locomotion in nature happens by transitioning across multiple modes (e.g., walk, run, climb). Despite this, far more mechanistic understanding of terrestrial locomotion has been on how to generate and stabilize around…
The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow…
We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the…
Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored. This paper derives the kinematics…
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…