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“Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control”

Authors: Pål Liljebäck, Øyvind Stavdahl and Kristin Y. Pettersen,
Affiliation: SINTEF and NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 1, pp. 21-28.

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Keywords: Snake robot, kinematics, dynamics

Abstract: This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait patterns. Two forms of locomotion have been simulated with the mathematical model, and experiments with the physical snake robot have been conducted. The simulation results revealed the parameter through which directional control may be achieved for each gait pattern. Experiments with the physical snake robot gave a crude qualitative verification of these findings.

PDF PDF (491 Kb)        DOI: 10.4173/mic.2008.1.2



DOI forward links to this article:
  [1] ZhiFeng Wang, ShuGen Ma, Bin Li and YueChao Wang (2011), doi:10.1007/s11432-010-4161-z
  [2] Cagdas D Onal and Daniela Rus (2013), doi:10.1088/1748-3182/8/2/026003
  [3] P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl (2012), doi:10.1016/j.robot.2011.08.010
  [4] Lounis Douadi, Davide Spinello, Wail Gueaieb and Hassan Sarfraz (2013), doi:10.1017/S026357471300091X
  [5] Ming Luo, Mahdi Agheli and Cagdas D. Onal (2014), doi:10.1089/soro.2013.0011
  [6] A.A. Transeth, R.I. Leine, C. Glocker and K.Y. Pettersen (2008), doi:10.1109/TRO.2008.917003
  [7] Pål Liljeback, Kristin Y. Pettersen, Øyvind Stavdahl and Jan Tommy Gravdahl (2010), doi:10.1109/TRO.2010.2056211
  [8] Zhifeng Wang, Bin Li, Yuechao Wang and Shugen Ma (2009), doi:10.1109/IROS.2009.5354838
  [9] S. Sarrafan, M. Malayjerdi, M. Behboudi and A. Akbarzadeh (2013), doi:10.1109/ICRoM.2013.6510098
  [10] Pal Liljeback, Kristin Y Pettersen, Oyvind Stavdahl and Jan Tommy Gravdahl (2010), doi:10.1109/IROS.2010.5649110
  [11] V. S. Rajashekhar and Swagat Kumar (2015), doi:10.1109/ROBIO.2015.7419056
  [12] Lanying Zhao, Gang Sun, Weihua Li and Hexiang Zhang (2016), doi:10.1109/ACIRS.2016.7556189
  [13] Fabian Reyes and Shugen Ma (2016), doi:10.1109/IROS.2016.7759567
  [14] Cid Gilani, XiaoQi Chen, Chris Pretty and Carla Koike (2016), doi:10.1016/j.ifacol.2016.12.219
  [15] Kenichiro Tokida, Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota and Kazuya Edamura (2013), doi:10.20965/jrm.2013.p0016
  [16] Matthew A. Robertson and Jamie Paik (2017), doi:10.1126/scirobotics.aan6357
  [17] Fabian Reyes and Shugen Ma (2017), doi:10.1186/s40638-017-0065-3


References:
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[2] Ohno, H. Hirose, S. (2001). Design of slim slime robot and its gait of locomotion, In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, volume 2, pp. 707-715.
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BibTeX:
@article{MIC-2008-1-2,
  title={{Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control}},
  author={Liljebäck, Pål and Stavdahl, Øyvind and Pettersen, Kristin Y.},
  journal={Modeling, Identification and Control},
  volume={29},
  number={1},
  pages={21--28},
  year={2008},
  doi={10.4173/mic.2008.1.2},
  publisher={Norwegian Society of Automatic Control}
};

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