Related papers: The CR geometry of the three-segment snake
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…
We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions…
In the subdivision approach to robot path planning, we need to subdivide the configuration space of a robot into nice cells to perform various computations. For a rigid spatial robot, this configuration space is $SE(3)=\mathbb{R}^3\times…
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…
Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation must be dynamically scheduled. In this work, we present a…
E. Cartan's method of moving frames is applied to 3-dimensional manifolds $M$ which are CR-embedded in 5-dimensional real hyperquadrics $Q$ in order to classify $M$ up to CR symmetries of $Q$ given by the action of one of the Lie groups…
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…
Given a 3-dimensional (para-)CR structure, its family of chains define a 3-dimensional path geometry. We provide necessary and sufficient conditions that determine whether a path geometry in dimension three arises from chains of a CR or…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Let $\mathrm S^3$ be the unit sphere of $\mathbb C^2$ with its standard Cauchy-Riemann (CR) structure. This paper investigates the CR geometry of curves in $\mathrm S^3$ which are transversal to the contact distribution, using the local CR…
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…
We present here a major upgrade of DRAGON, a numerical package that computes the propagation of a wide set of CR species from both astrophysical and exotic origin in the Galaxy in a wide energy range from tens of MeV to tens of TeV. DRAGON…
Starting from the classical notion of an oriented congruence (i.e. a foliation by oriented curves) in $R^3$, we abstract the notion of an oriented congruence structure. This is a 3-dimensional CR manifold $(M,H, J)$ with a preferred…
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…
Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…
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…