A Simplified Model of Snake Robot Locomotion on Planar Surfaces

2013 ◽  
pp. 103-129
Author(s):  
Pål Liljebäck ◽  
Kristin Y. Pettersen ◽  
Øyvind Stavdahl ◽  
Jan Tommy Gravdahl
Keyword(s):  
Simplified Model ◽  
Snake Robot ◽  
Robot Locomotion ◽  
Planar Surfaces

A Complex Model of Snake Robot Locomotion on Planar Surfaces

2013 ◽  
pp. 39-54
Author(s):  
Pål Liljebäck ◽  
Kristin Y. Pettersen ◽  
Øyvind Stavdahl ◽  
Jan Tommy Gravdahl
Keyword(s):  
Complex Model ◽  
Snake Robot ◽  
Robot Locomotion ◽  
Planar Surfaces

scholarly journals A simplified model of planar snake robot locomotion

2010 ◽  
Author(s):  
Pal Liljeback ◽  
Kristin Y Pettersen ◽  
Oyvind Stavdahl ◽  
Jan Tommy Gravdahl
Keyword(s):  
Simplified Model ◽  
Snake Robot ◽  
Robot Locomotion

Bio-Inspired Snake Robots

2018 ◽  
pp. 246-275 ◽  
Author(s):  
Mohammadali Javaheri Koopaee ◽  
Cid Gilani ◽  
Callum Scott ◽  
XiaoQi Chen
Keyword(s):  
Future Research ◽  
Snake Robot ◽  
Cluttered Environments ◽  
Flat Surfaces ◽  
Robot Locomotion ◽  
Control Schemes ◽  
Unstructured Environment ◽  
And Control ◽  
World Environment ◽  
Snake Robots

This chapter concerns modelling and control of snake robots. Specifically, the authors' main goal is introducing some of the fundamental design, modelling, and control approaches introduced for efficient snake robot locomotion in cluttered environments. This is a critical topic because, unlike locomotion in flat surfaces, where pre-specified gait equations can be employed, for locomotion in unstructured environment more sophisticated control approaches should be used to achieve intelligent and efficient mobility. To reach this goal, shape-based modelling approaches and a number of available control schemes for operation in unknown environments are presented, which hopefully motivates more scholars to start working on snake robots. Some ideas about future research plans are also proposed, which can be helpful for fabricating a snake robot equipped with the necessary features for operation in a real-world environment.

scholarly journals Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion

2010 ◽  
Vol 26 (5) ◽  
pp. 781-799 ◽  
Author(s):  
Pål Liljeback ◽  
Kristin Y. Pettersen ◽  
Øyvind Stavdahl ◽  
Jan Tommy Gravdahl
Keyword(s):  
Hybrid Modelling ◽  
Snake Robot ◽  
Robot Locomotion ◽  
And Control

scholarly journals Snake Robot Locomotion in Environments With Obstacles

2012 ◽  
Vol 17 (6) ◽  
pp. 1158-1169 ◽  
Author(s):  
Pål Liljeback ◽  
Kristin Y. Pettersen ◽  
Øyvind Stavdahl ◽  
Jan Tommy Gravdahl
Keyword(s):  
Snake Robot ◽  
Robot Locomotion

A Review on Snake Robot Locomotion, Modelling, and Controlling in Challenging Environment

2020 ◽  
Vol 17 (2) ◽  
pp. 558-569
Author(s):  
Areej Ghazi Abdulshaheed ◽  
Mohamed Bin Hussein ◽  
Mohd Azuwan Mat Dzahir ◽  
Shaharil Mad Saad ◽  
Rohani Othman
Keyword(s):  
Detection System ◽  
Obstacle Detection ◽  
Complex Environment ◽  
Snake Robot ◽  
Robot Locomotion ◽  
Surrounding Environment ◽  
Different Types ◽  
Common Strategy ◽  
Challenging Environment ◽  
Robot Body

The flexibility of the snake robot body and its ability to adapt to different types of terrain attracted the attention of researchers to the great possibilities of its application in inspection, rescue, and searching tasks. These tasks require the robot to have the ability to navigate smartly in a complex environment (CE), which is considered to be one of the most critical challenges in the robotics field. The robot should be able to sense the surrounding environment and overcome different types of obstacles. In this paper, we have presented a review of the different type of snake robot locomotion and the controlling strategies in an environment with obstacles. We focus on avoidance obstacle locomotion as it is considered to be the most common strategy for dealing with obstacles. In addition, various types of modeling and controlling of locomotion with the presence of obstacles are discussed. Finally, a recommendation on the introduction of an obstacle detection system (ODS) and sensor fusion technology is given.

A Hybrid Model of Snake Robot Locomotion in Cluttered Environments

2013 ◽  
pp. 193-219
Author(s):  
Pål Liljebäck ◽  
Kristin Y. Pettersen ◽  
Øyvind Stavdahl ◽  
Jan Tommy Gravdahl
Keyword(s):  
Hybrid Model ◽  
Snake Robot ◽  
Cluttered Environments ◽  
Robot Locomotion
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