Dynamics-Based Model for a New Class of a Rectilinear-Gait for a Snake-Inspired Robot

2012 ◽  
Author(s):  
James K. Hopkins ◽  
Satyandra K. Gupta
Keyword(s):  
General Model ◽  
Search And Rescue ◽  
Lagrangian Formulation ◽  
Robot Dynamics ◽  
Rough Terrain ◽  
Robot Design ◽  
Linear Motion ◽  
New Class ◽  
Serial Robot ◽  
Robot Platform

Snake-inspired locomotion is much more maneuverable compared to conventional locomotion concepts and it enables a robot to navigate through rough terrain. A rectilinear gait is quite flexible and has the following benefits: functionality on a wide variety of terrains, enables a highly stable robot platform, and provides pure undulatory motion without passive wheels. These benefits make rectilinear gaits especially suitable for search and rescue applications. However, previous robot designs utilizing rectilinear gaits were slow in speed. This paper introduces a new class of rectilinear gaits to be utilized by a snake-inspired robot design which is capable of pure linear motion and variable traction. The general model for the gait class is based on serial robot dynamics using the Lagrangian formulation. The gait class includes four unique gaits: a forward and a turning gait, which both emphasize speed for the robot; and a forward and turning gait which emphasize traction. Also, we perform an analysis of the variable traction concept.

Design of a Drive Mechanism for a Rectilinear-Gait Based Snake-Inspired Robot

2011 ◽  
Author(s):  
James K. Hopkins ◽  
Satyandra K. Gupta
Keyword(s):  
High Speed ◽  
Search And Rescue ◽  
Rough Terrain ◽  
Robot Design ◽  
Drive Mechanism ◽  
Turning Motion ◽  
Robot Platform

Snake-inspired locomotion is much more maneuverable compared to conventional locomotion concepts and it enables a robot to navigate through rough terrain. A rectilinear gait is quite flexible and has the following benefits: functionality on a wide variety of terrains, enables a highly stable robot platform, and provides pure undulatory motion without passive wheels. These benefits make rectilinear gaits especially suitable for search and rescue applications. However, many previous robot designs utilizing rectilinear gaits were slow in speed. In this paper, a snake-inspired robot design and rectilinear gait capable of high speed locomotion are introduced. Our results from an initial prototype indicate that this concept is capable of achieving high speed. The developed prototype successfully demonstrated forward and turning motion.

ImPACT-TRC Thin Serpentine Robot Platform for Urban Search and Rescue

2019 ◽  
pp. 25-76 ◽  
Author(s):  
Masashi Konyo ◽  
Yuichi Ambe ◽  
Hikaru Nagano ◽  
Yu Yamauchi ◽  
Satoshi Tadokoro ◽  
...  
Keyword(s):  
Search And Rescue ◽  
Urban Search And Rescue ◽  
Robot Platform

scholarly journals Boundary conditions for semi-Lagrangian methods for the BGK model

2016 ◽  
Vol 7 (3) ◽  
pp. 138-164 ◽  
Author(s):  
Maria Groppi ◽  
Giovanni Russo ◽  
Giuseppe Stracquadanio
Keyword(s):  
Boltzmann Equation ◽  
Numerical Methods ◽  
Boundary Conditions ◽  
Numerical Simulations ◽  
Lagrangian Formulation ◽  
High Order Accuracy ◽  
Bgk Model ◽  
Order Accuracy ◽  
New Class ◽  
Iterative Procedures

Abstract A new class of high-order accuracy numerical methods based on a semi-Lagrangian formulation for the BGK model of the Boltzmann equation has been recently proposed in [1]. In this paper semi-Lagrangian schemes for the BGK equation have been extended to treat boundary conditions, in particular the diffusive ones. Two different techniques are proposed, using or avoiding iterative procedures. Numerical simulations illustrate the accuracy properties of these approaches and the agreement with the results available in literature.

Design and Analysis of a Miniature Modular Inchworm Robot

2016 ◽  
Author(s):  
Wael Saab ◽  
Anil Kumar ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Linear Expansion ◽  
Low Cost ◽  
Equations Of Motion ◽  
Search And Rescue ◽  
Linear Motion ◽  
Motion Modeling ◽  
Anisotropic Friction ◽  
Confined Spaces ◽  
Simulation Results ◽  
Friction Analysis

This paper presents the design and analysis of a bioinspired miniature modular Inchworm robot. Inchworm robots play crucial roles in surveillance, exploration and search and rescue operations where maneuvering in confined spaces is required. Rectilinear gaits have been demonstrated with favorable results in terms of stability and small size due to the absence of wheels and tracks; however, exhibit slow speeds. The proposed mechanism utilizes undulatory rectilinear gait motion through linear expansion/contraction of modules and anisotropic friction skin to produce pure linear motion. The use of anisotropic friction skin results in a simple, low cost, miniature mechanical structure. Friction analysis of the anisotropic material is performed and the system is modeled to derive its equations of motion. Modeling and simulation results are validated through experiments performed with an integrated prototype. Results indicate that the robot can achieves an average forward velocity of 11 mm/s on various surfaces.

scholarly journals A Mobile Robot Platform for Search and Rescue Applications

2019 ◽  
pp. 0945-0954
Author(s):  
Georg Novotny ◽  
Simon Emsenhuber ◽  
Philipp Klammer ◽  
Cristoph Poschko ◽  
Florian Voglsinger ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Search And Rescue ◽  
Robot Platform

scholarly journals Challenges for Novice Developers in Rough Terrain Rescue Robots: A Survey on Motion Control Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-12
Author(s):  
Branesh M. Pillai ◽  
Jackrit Suthakorn
Keyword(s):  
Control System ◽  
Control Systems ◽  
Motion Control ◽  
Search And Rescue ◽  
Rough Terrain ◽  
Motion Control System ◽  
Intelligent Machines ◽  
Human Control ◽  
Rescue Robots

Several researchers have revealed the huge potentials of rescue robots in disaster zones. In addition to searching for victims, these intelligent machines are also effective in obtaining useful information from the zones. These functions help to optimize the search and rescue missions. However, the fact that rescue robots have to operate in risky and dangerous environments necessitates the need for such machines to have an efficient motion control system, which can help them to operate autonomously or with minimal human control. This paper reviews the use of reliable controllers in enhancing the sensing capabilities of rescue robots. Huge potential of sensorless sensing method in the rescue robots are highlighted. It is shown that the use of sensorless sensing method enables developer to create simple and cheaper robots for various complex situations. Thus, it is imperative to conduct further studies on how to optimize the operations of robots that lack sensors.

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