Background Material for Snake Robots - Revision history

D Wilkie: /* Analysis of Creeping Locomotion of a Snake-Like Robot */

2008-03-12T19:05:51Z

Analysis of Creeping Locomotion of a Snake-Like Robot

D Wilkie: /* Locomotion control of a snake-like robot based on dynamicmanipulability */

2008-03-12T19:01:42Z

Locomotion control of a snake-like robot based on dynamicmanipulability

D Wilkie: /* Polychaete-like Undulatory Robotic Locomotion */

2008-03-12T19:01:00Z

Polychaete-like Undulatory Robotic Locomotion

D Wilkie: /* Serpentine locomotion on surfaces with uniform friction */

2008-03-12T19:00:25Z

Serpentine locomotion on surfaces with uniform friction

D Wilkie: /* Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints */

2008-03-12T18:59:32Z

Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints

D Wilkie: /* Non-smooth 3D Modeling of a Snake Robot with External Obstacles */

2008-03-12T18:58:29Z

Non-smooth 3D Modeling of a Snake Robot with External Obstacles

D Wilkie: /* Design and Control of Biologically Inspired Wheel-less Snake-like Robot */

2008-03-12T18:57:49Z

Design and Control of Biologically Inspired Wheel-less Snake-like Robot

D Wilkie: /* Serpentine locomotion with robotic snakes */

2008-03-12T18:57:03Z

Serpentine locomotion with robotic snakes

D Wilkie: /* Analysis of creeping locomotion of a snake robot on a slope */

2008-03-12T18:55:50Z

Analysis of creeping locomotion of a snake robot on a slope

D Wilkie: /* Turning and side motion of snake-like robot */

2008-03-12T18:54:34Z

Turning and side motion of snake-like robot

@@ Line 37: / Line 37: @@
 Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. To realize these snakes' noticeable features, we have developed a snake-like robot that has no any forward direction driving force. To enlarge the environment-adaptable ability of our robot, in this study we discuss the creeping locomotion of our snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of our snake-like robot on a slope, and the environment-adaptable body shape for the creeping locomotion of the snake-like robot on slope is also derived through this simulator.
-===Analysis of Creeping Locomotion of a Snake-Like Robot===
+===Analysis of Creeping Locomotion of a Snake-Like Robot (No free full text)===
 Abstract:
 Snakes perform many kinds of movement adapted to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot, that performs the snake's function, is important for generating a new type of locomotion and expanding the possible uses of robots. In this study, we developed a simulator to simulate the creeping locomotion of the snake-like robot, in which the robot dynamics is modeled and the interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze creeping locomotion with normaldirection slip, adding to the glide along the tangential direction. Through the developed simulator, we investigate the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side and discuss the optimal creeping locomotion of the snake-like robot that is adapted to the environment.

@@ Line 79: / Line 79: @@
 A non-smooth 3D mathematical model of the dynamics of a snake robot (without wheels) is developed in this paper. The model is based on the framework of non-smooth dynamics and convex analysis which allows us to easily incorporate unilateral contact forces and friction forces based on Coulomb's law of dry friction. Impact and stick-slip transitions are modeled as instantaneous. A numerical integrator on impulse-velocity level, the time-stepping method, is used for simulation, which helps avoid an explicit switch between equations of motion during simulation. Numerical results are presented for a snake robot with 26 degrees of freedom and 22 possible contact points along its body. Simulation results of the snake motion pattern `lateral undulation' are shown.
-===Locomotion control of a snake-like robot based on dynamicmanipulability===
+===[http://gicl.cs.drexel.edu/wiki-data/images/8/83/LocomotionControlOFASnake-LikeRobotBasedOnDynamicManipulability.pdf Locomotion control of a snake-like robot based on dynamic manipulability]===
 Abstract:

@@ Line 89: / Line 89: @@
 A common view in snake robot research is that serpentine locomotion is only possible when there is nonuniform friction. This paper demonstrates that this view is incorrect, through a simple and easily reproducible experiment. We also present a theoretical kinematical analysis, which explains the experiment.
-===Polychaete-like Undulatory Robotic Locomotion===
+===[http://gicl.cs.drexel.edu/wiki-data/images/9/9c/Polychaete-likeUndulatoryRoboticLocomotion.pdf Polychaete-like Undulatory Robotic Locomotion]===
 Abstract:
 Polychaete annelid worms provide a biological paradigm of versatile locomotion and effective motion control, adaptable to a large variety of unstructured environmental conditions (water, sand, mud, sediment, etc.). The undulatory locomotion of their segmented body is characterized by the combination of a unique form of tail-to-head body undulations, with the rowing-like action of numerous lateral appendages distributed along their body. Computational models of polychaete-like crawling and swimming have been developed, based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and used for simulation studies demonstrating the generation of undulatory gaits. Several lightweight robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand. Extensive experiments demonstrate that the propulsion of these robots is characterized by essential features of polychaete locomotion, in agreement with the corresponding simulations.

@@ Line 84: / Line 84: @@
 We discuss autonomous locomotion control of a snake-like articulated robot with passive wheels. Such a robot has a quite different mechanism in locomotion from that of other locomotion systems, namely, it has no driving wheel and moves only by bending its body. Hence the locomotability depends on its posture. In order to evaluate the locomotability, we utilize a notion of dynamic manipulability which has been applied to a robot manipulator. We also propose a simple controller based on this manipulability. Simulation results show that a certain periodic winding motion is automatically generated
-===Serpentine locomotion on surfaces with uniform friction===
+===[http://gicl.cs.drexel.edu/wiki-data/images/2/2e/SerpentineLocomotionOnSurfacesWithUniformFriction.pdf Serpentine locomotion on surfaces with uniform friction]===
 Abstract:

@@ Line 73: / Line 73: @@
 undulation’ while pushing against obstacles are given.
-===Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints===
+===[http://gicl.cs.drexel.edu/wiki-data/images/a/a1/Non-Smooth3DModelingAfASnakeRobotWithFrictionalUnilateralConstraints.pdf Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints]===
 Abstract:

@@ Line 56: / Line 56: @@
 This paper describes our research project on snake-like locomotion of robotic platforms and the results of the experiments conducted with a wheel-less snake-like robot prototype. Biological inspiration has been at the hardcore of the mechanical design and the control method applied to the robot. With closed-loop control applied to the present wheel-less prototype, it has succeeded in progressing through lateral undulation, the most common limbless locomotion type observed in natural snakes. Main results consist of the robustness of the locomotion with respect to the variations in initial conditions and external perturbations
-===Non-smooth 3D Modeling of a Snake Robot with External Obstacles===
+===[http://gicl.cs.drexel.edu/wiki-data/images/0/04/Non-Smooth3DModelingOfASnakeRobotWithExternalObstacles.pdf Non-smooth 3D Modeling of a Snake Robot with External Obstacles]===
 Abstract:

@@ Line 51: / Line 51: @@
 The authors describe a snake robot without wheels and develop its model based on the directional friction coefficients. After the model transformation that decouples the inertial locomotion from the internal shape motion, an optimally efficient serpentine locomotion is investigated. Based on the analysis results, a velocity control scheme is proposed using a quasi-linearizing input transformation, and its validity is demonstrated by a laboratory experiment with a five-link serpentine robot. The results reported here focus on the planar serpentine gait that is suited for locomotion in an environment where friction with directional preference cna be realized. (CSA)
-=== Design and Control of Biologically Inspired Wheel-less Snake-like Robot===
+=== [http://gicl.cs.drexel.edu/wiki-data/images/6/68/DesignAndControlOfBiologicallyInspiredWheel-lessSnake-LikeRobot.pdf Design and Control of Biologically Inspired Wheel-less Snake-like Robot]===
 Abstract:

@@ Line 46: / Line 46: @@
 With high adaptability to environments snake-like robots offer a variety of advantages over other mobile robots. Such a robot with passive wheels has quite different mechanism in locomotion from that of other locomotion systems. We have developed a snake-like robot for rescue applications. The unit composing the snake-like robot of Shenyang Institute of Automation (SIA) is a module including actuating system and control system. To let the snake-like robot perform turning motion and compensate offset and orientation errors of the robot, we propose an amplitude modulation method and a phase modulation method based on analysis of the serpenoid curve. The side motion of the snake-like robot can also be generated by the amplitude modulation. The tracking control method is also proposed based on sensor information. Computer simulations and experimental tests are performed to show the validity of the proposed methods.
-===Serpentine locomotion with robotic snakes===
+===[http://gicl.cs.drexel.edu/wiki-data/images/a/a8/SerpentineLocomotionWithRoboticSnakes.pdf Serpentine locomotion with robotic snakes]===
 Abstract:
 The authors describe a snake robot without wheels and develop its model based on the directional friction coefficients. After the model transformation that decouples the inertial locomotion from the internal shape motion, an optimally efficient serpentine locomotion is investigated. Based on the analysis results, a velocity control scheme is proposed using a quasi-linearizing input transformation, and its validity is demonstrated by a laboratory experiment with a five-link serpentine robot. The results reported here focus on the planar serpentine gait that is suited for locomotion in an environment where friction with directional preference cna be realized. (CSA)
 === Design and Control of Biologically Inspired Wheel-less Snake-like Robot===

@@ Line 32: / Line 32: @@
 This paper considers the problem of serpentine, or snake-like, locomotion from the perspective of geometric mechanics. A particular model based on Hirose's active cord mechanism is analyzed. Using the kinematic constraints, we develop a connection, which describes the net motion of the machine as a function of variations in the mechanism's shape variables. We present simulation results demonstrating three types of locomotive gaits, one of which bears an obvious resemblance to the serpentine motion of a snake. We also discuss how these algorithms can be used to optimize certain inputs given the particular choice of physical parameters for a snake robot
-===Analysis of creeping locomotion of a snake robot on a slope===
+===[http://gicl.cs.drexel.edu/wiki-data/images/e/e8/AnalysisOfCreepingLocomotionOFASnakeRobotOnASlope.pdf Analysis of creeping locomotion of a snake robot on a slope]===
 Abstract:

@@ Line 41: / Line 41: @@
 Snakes perform many kinds of movement adapted to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot, that performs the snake's function, is important for generating a new type of locomotion and expanding the possible uses of robots. In this study, we developed a simulator to simulate the creeping locomotion of the snake-like robot, in which the robot dynamics is modeled and the interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze creeping locomotion with normaldirection slip, adding to the glide along the tangential direction. Through the developed simulator, we investigate the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side and discuss the optimal creeping locomotion of the snake-like robot that is adapted to the environment.
-===Turning and side motion of snake-like robot===
+===[http://gicl.cs.drexel.edu/wiki-data/images/4/45/TurningAndSideMotionOfSnake-LikeRobot.pdf Turning and side motion of snake-like robot]===
 Abstract: