The terrain that these rovers can traverse robustly is impressive, but none of the existing systems has been. We accomplish this by introducing a novel method to constructing a body frame for the robot. This paper presents a reconfigurable modular mechanismrubik snake robot, which can change its configurations by changing the position relationship of modules. Meeting these constraints requires implementing a complex mechanical and electrical architecture. 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. Design and architecture of the unified modular snake robot. In addition, control which allows the robot to adapt to its environment is also essential. Abstract the elephant trunk robot comes under the class of biologically inspired robots that mimic the behaviour of their biological. This generator outputs the coordinated desired joint angle commands to each. Our control strategy is only control the position of the head of a snakelike robot and. Snake like robot is applied to all hyper redundant robots those are.
Based on can bus technologies, we developed a control system for a snakelike robot, which controls the movement of the snakelike robot effectively. Travers 2 and howie choset 2 abstract limbless locomotion, evidenced by both biological and robotic snakes, capitalizes on these systems redundant. Abstract this paper presents a general framework for plan. Onal1,3 abstract for a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a fundamental requirement for. Use of 3d simulation to design theoretical and real pipe. 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.
Many factors such as size, power, and weight constrain the design of modular snake robots. For the straight pipe locomotion was designed traveling wave locomotion pattern with sinelike wave which expands from rear of the robot to its front. Download seminar report for snake robots, abstract, pdf, ppt. Experimental results confirm that the proposed model describes the motion of the robot accurately. Next methods and processes of making designed components was described. Actuation compensation for flexible surgical snakelike robots with redundant remote actuation kai xu, nabil simaan. After analyzing snake body structure, the paper introduces a novel structural design of bionic snakelike robot which can qualify 3d movement. 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. We propose a biomimetic approach for steering motion control of a snake robot. 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.
Theoretical modeling and experimental analysis of a pressureoperated soft robotic snake ming luo,1,2 mahdi agheli,3 and cagdas d. Inspired by a vertebrate biological motor system paradigm, a hierarchical control scheme is adopted. For the straight pipe locomotion was designed traveling wave locomotion pattern with sinelike. Actuation compensation for flexible surgical snakelike. The research on remote control robot snake driving by. The robot was used as a model to probe the snake, and the snake was used to understand and improve the robot. Research on snakelike robots expands the fields of application of robots. A snake robot is a robotic mechanism designed to move like a biological snake. The paper presents the design and motion planning for a mechanical snake robot that was built at the university of michigan. Telemanipulation of snakelike robots for minimally invasive surgery of the upper airway ankur kapoor1, kai xu2, wei wei2, nabil simaan2, and russell h. 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. The mechanical design of snakearm robot ieee conference. Estimating motion of snake robots in straight pipes. The structure of the robot enables it to move without wheels.
Available formats pdf please select a format to send. Climbing robots in natural terrain timothy bretl, teresa miller, and stephen rock jeanclaude latombe. This snakelike robot is designed for distal dexterity enhancement in mis surgery of the. 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. Part of the motivation for working with this particular robot. 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. Design and realize a snakelike robot in complex environment. 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. A snakelike robot for realworld inspection applications. Finally, functional tests of a constructed real robot model such. Development of robotic vehicles becomes an important tool to explore the humans life.
Cowan department of mechanical engineering the johns hopkins university baltimore, maryland 212182681. We present three methods of achieving compliant motion with a snake robot by controlling the torques exerted by the joints of the robot. 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. Snakearm robots with a slender and flexible body have many potential applications in aerospace, nuclear and surgery industry. Prototype design of a rubik snake robot springerlink. In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. 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. Studying the snake and robot together was a reciprocally illuminating process. In this paper a modal and dynamic analysis of a snake like robot is performed. 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. 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. Snake, known commonly as cardio arm, is an imagingsensing navigated and kinematically enhancedisnake. Swimming locomotion of soft robotic snakes isuru s. Thus, we studied both design and control of snakelike robots for realworld.
Design and control of a cabledriven articulated modular. The proposed dynamic analysis was performed in order to determine the variation timefrequency laws. The robot can simulate the real snake to do such action as winding, turning, spiraling, rising head and ducktail etc. This thesis presents the design and control of a cableactuated mobile snake robot. In the control scheme, an artificial central pattern generator cpg is employed to generate serpentine locomotion in the robot. Structural design and research of the bionic snakelike robot. Design and realization of snakelike robot control system. 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. The model is simulated using measured physical parameters of a soft snake robot prototype.
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. Moreover, we accomplished two modes of control, centralized control and distributed control, on our snakelike. The talk presents a mathematical model of a swimming snake robots. Abstract bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Abstract background surgical instruments greatly impact the performance of robot. The theoretical results are verified through a detailed comparison to locomotion experiments on a flat surface with measured frictional properties. 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. Design and motion planning of a mechanical snake systems. It is constructed of a series of articulated links, each one with a motor and linear solenoid. Parameter optimization of a snake robot using taguchi method. Pdf developments in snake robot modeling and locomotion. Preface robot snake is a branch of robot technology, which is different from the traditional robot with wheels, legs, or tracks.
This paper introduces the equations of motion of modular 2d snake robots moving in vertical plane employing series elastic actuators seas. 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. Abstract snake robots may one day play a crucial role in search and r esc ue operations and. Smart materialactuated flexible tendonbased snake robot. Also, a snake robot is a highly articulated robot manipulator arm with the capability of providing its own propulsion. Bionic research on concertina motion of a snakelike robot. Pdf bionic research on concertina motion of a snakelike. Download snake robots seminar report, ppt, pdf, snake robots ppt, snake robots topics, abstracts, documentation. Snake robot seminar report, ppt, pdf for electrical.
Climbing robots in natural terrain stanford ai lab. Our laboratory experiments reveal that as granular incline angle increases, sidewinder rattlesnakes increase the length of their body in contact with the sand. Control strategies for snake robots with coupled joints are. Pdf design and motion planning of a mechanical snake. These capabilities have spurred an extensive research activity investigating the design and control of snake robots. Abstract this paper presents a softrobotic platform for exploring the ecological relevance of nonlocomotory movements via animalrobot interactions. Pettersen abstract this paper considers the problem of model based control of the joints of a snake robot without wheels. Explore snake robot with free download of seminar report and ppt in pdf and doc format.
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. This paper aims to provide details of recent snake robot research, products and applications. Our design considers size, power, weight, and tradeoffs among these criteria. An autonomous locomotion control of a multijoint snake. The control of locomotion of the robot is also creating a problem due to its length and wired controlled. The main aim of the paper is to present the process of design pipe inspection mobile robot by using 3d simulations. A third strategy commands joint angles, velocities, and torques based on the recorded feedback from the robot while executing a previously defined. Two strategies command joint torques based solely on the robots local curvature i. Steering motion control of a snake robot via a biomimetic. Dynamical modeling and control of modular snake robots. Modal analysis consist in determination of own vibration modes and natural frequencies. Snake robot locomotion patterns for straight and curved.
Examples of applications are then provided and are followed by brief conclusions. This robot has three hollow slender segments composed of balljoints driven by steel cables. Theoretical modeling and experimental analysis of a. A flexible snake robot has better navigation ability compare with the existing electrical motorbased rigid snake robot.