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Lu J, Tang C, Hu E, Li Z. S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe. BIOINSPIRATION & BIOMIMETICS 2024; 19:036010. [PMID: 38507791 DOI: 10.1088/1748-3190/ad3601] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/12/2023] [Accepted: 03/20/2024] [Indexed: 03/22/2024]
Abstract
In this work, we focus on overcoming the challenge of a snake robot climbing on the outside of a bifurcated pipe. Inspired by the climbing postures of biological snakes, we propose an S-shaped rolling gait designed using curve transformations. For this gait, the snake robot's body presenting an S-shaped curve is wrapped mainly around one side of the pipe, which leaves space for the fork of the pipe. To overcome the difficulty in constructing and clarifying the S-shaped curve, we present a method for establishing the transformation between a plane curve and a 3D curve on a cylindrical surface. Therefore, we can intuitively design the curve in 3D space, while analytically calculating the geometric properties of the curve in simple planar coordinate systems. The effectiveness of the proposed gait is verified by actual experiments. In successful configuration scenarios, the snake robot could stably climb on the pipe and efficiently cross or climb to the bifurcation while maintaining its target shape.
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Affiliation(s)
- Jingwen Lu
- School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, People's Republic of China
| | - Chaoquan Tang
- School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, People's Republic of China
| | - Eryi Hu
- Information Institute, Ministry of Emergency Management of the People's Republic of China, Beijing, People's Republic of China
| | - Zhipeng Li
- School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, People's Republic of China
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2
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Cortez R, Sandoval-Chileño MA, Lozada-Castillo N, Luviano-Juárez A. Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators. Biomimetics (Basel) 2024; 9:180. [PMID: 38534865 DOI: 10.3390/biomimetics9030180] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2024] [Revised: 02/28/2024] [Accepted: 03/14/2024] [Indexed: 03/28/2024] Open
Abstract
This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist-antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies.
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Affiliation(s)
- Ricardo Cortez
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico
| | | | - Norma Lozada-Castillo
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico
| | - Alberto Luviano-Juárez
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico
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3
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Tang C, Sun L, Zhou G, Shu X, Tang H, Wu H. Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting. Biomimetics (Basel) 2023; 8:biomimetics8010105. [PMID: 36975335 PMCID: PMC10046623 DOI: 10.3390/biomimetics8010105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/05/2023] [Revised: 02/03/2023] [Accepted: 03/03/2023] [Indexed: 03/08/2023] Open
Abstract
Gait generation method is one of the important contents of snake robot motion control. Different gait generation methods produce completely different forms of control functions, so snake robots need more complicated programming logic and processes to realize various gaits and their transformation. Therefore, we propose a new unified expression of gait method, The MCC (main characteristics control) method simplifies and unifies the control functions of different snake robots gaits by extracting the main features of the backbone curves of snake robots gaits. Since all periodic curves that meet the Dirichlet conditions can be formed by superposition of sinusoidal curves, taking the “lowest frequency” part that reflects the main characteristics of the curve as the target configuration can simplify the motion control function of snake robots’ gaits. Based on the MCC method, some snake robot gaits are reconstructed, including serpentine gait, rolling gait, helix rolling gait, and crawler gait. In addition, based on MCC method, an AEH-sidewinding gait control method is proposed. The backbone of the AEH-sidewinding gait is closer to the ideal elliptic helix, thus improving the accuracy of its kinematics modeling of snake robot sidewinding gait. Finally, the validity of this gait is verified by experiments. This unified gait expression of snake robots will be helpful to realize smooth gait switching between different gaits of snake robots.
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Konishi R, Nakajima M, Tanaka K, Matsuno F, Tanaka M. Design for snake robot motion via partial grasping on pipes. Adv Robot 2023. [DOI: 10.1080/01691864.2022.2137431] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/11/2023]
Affiliation(s)
- Ryoga Konishi
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
| | - Mizuki Nakajima
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
| | - Kazuo Tanaka
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
| | - Fumitoshi Matsuno
- Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan
| | - Motoyasu Tanaka
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
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5
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Sakakibara K, Ariizumi R, Asai T, Azuma SI. Path tracking control of a snake robot with a passive joint. Adv Robot 2023. [DOI: 10.1080/01691864.2022.2163186] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/15/2023]
Affiliation(s)
| | - Ryo Ariizumi
- Graduate School of Engineering, Nagoya University, Nagoya, Japan
| | - Toru Asai
- Graduate School of Engineering, Nagoya University, Nagoya, Japan
| | - Shun-ichi Azuma
- Graduate School of Engineering, Nagoya University, Nagoya, Japan
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6
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Abe T, Date H. Visualization system in a third-person view for the teleoperation of a snake-like robot. Adv Robot 2022. [DOI: 10.1080/01691864.2022.2095224] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/01/2022]
Affiliation(s)
- Taro Abe
- Graduate School Systems and Information Engineering, University of Tsukuba, Tsukuba, Ibaraki, Japan
| | - Hisashi Date
- Faculty of Engineering, Information and Systems, University of Tsukuba, Tsukuba, Ibaraki, Japan
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7
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Jang H, Kim TY, Lee YC, Kim YS, Kim J, Lee HY, Choi HR. A Review: Technological Trends and Development Direction of Pipeline Robot Systems. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01669-2] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
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8
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Elsayed BA, Takemori T, Matsuno F. Joint failure recovery for snake robot locomotion using a shape-based approach. ARTIFICIAL LIFE AND ROBOTICS 2022. [DOI: 10.1007/s10015-022-00742-1] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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9
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Takanashi T, Nakajima M, Takemori T, Tanaka M. Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3194689] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Takuro Takanashi
- Department of Mechanical and Intelligent Systems Engineering, University of Electro-Communications, Tokyo, Japan
| | - Mizuki Nakajima
- Department of Mechanical and Intelligent Systems Engineering, University of Electro-Communications, Tokyo, Japan
| | - Tatsuya Takemori
- Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Motoyasu Tanaka
- Department of Mechanical and Intelligent Systems Engineering, University of Electro-Communications, Tokyo, Japan
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10
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Takemori T, Tanaka M, Matsuno F. Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3063438] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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11
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Inazawa M, Takemori T, Tanaka M, Matsuno F. Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures. Front Robot AI 2021; 8:629368. [PMID: 34012981 PMCID: PMC8126667 DOI: 10.3389/frobt.2021.629368] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/14/2020] [Accepted: 03/29/2021] [Indexed: 11/13/2022] Open
Abstract
A unified method for designing the motion of a snake robot negotiating complicated pipe structures is presented. Such robots moving inside pipes must deal with various “obstacles,” such as junctions, bends, diameter changes, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures in a unified way. This method also applies to motion that is necessary to pass between the inside and the outside of a pipe. We designed the target form of the snake robot using two helices connected by an arbitrary shape. This method can be applied to various obstacles by designing a part of the target form specifically for given obstacles. The robot negotiates obstacles under shift control by employing a rolling motion. Considering the slip between the robot and the pipe, the model expands the method to cover cases where two helices have different properties. We demonstrated the effectiveness of the proposed method in various experiments.
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Affiliation(s)
- Mariko Inazawa
- Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Tatsuya Takemori
- Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Motoyasu Tanaka
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Fumitoshi Matsuno
- Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan
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12
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Nakajima M, Tanaka M, Tanaka K. Control of a snake robot for passing through a self-closing door. Adv Robot 2021. [DOI: 10.1080/01691864.2021.1905060] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
Affiliation(s)
- Mizuki Nakajima
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Motoyasu Tanaka
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Kazuo Tanaka
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
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13
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Abstract
SUMMARYFor acquiring a broad view in an unknown environment, we proposed a control strategy based on the Bézier curve for the snake robot raising its head. Then, an improved discretization method was developed to accommodate the backbone curves with more complex shapes. Besides, in order to determine the condition of using the improved discretization method, energy of framed space curve is introduced originally to estimate the shape complexity of the backbone curve. At last, based on degree elevation of the Bézier curve, an obstacle avoidance strategy of the head-raising motion was proposed and validated through simulation.
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14
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Abstract
The inspection of legacy nuclear facilities to aid in decommissioning is a world wide issue. One of the challenges is the characterisation of pipe networks within them. This paper presents an autonomous control system for the navigation of these unknown pipe networks, specifically focusing on elbows. The controller utilises three low-cost feeler sensors to navigate the FURO II robot around 150 mm short elbows. The controller is shown to allow the robot to safely navigate around an elbow on all 39 attempts comparing that with the brute force method which only completed five of the nine attempts and damaging the robot. This shows the advantages of the proposed controller. A new metric (Impulse) is also proposed to compare the extra force applied to the robot over the time it is slipping in the elbow due to the errors in the drive unit speeds. Using this metric, the controller is shown to decrease the Impulse applied to the robot by 213.97 Ns when compared to the brute force method.
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15
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Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10228031] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc. However, the hyper-redundancy, which endows much dexterity and flexibility, brings a huge challenge to the kinematics solution and control of the continuum manipulators. Due to the pseudoinverse calculation of high-order Jacobian matrix or iteration, many inverse kinematic solution approaches of continuum manipulators are very time-consuming, which extremely limit their applicability in real-time control. Additionally, it is often difficult for the manipulators to perform the tasks well in complex scenarios due to lack of human intervention. Therefore, in this paper, a simplified kinematics model of a typical hyper-redundant manipulator is proposed based on its unique geometry relationships, where the mapping relationships between the actuators’ rotation and the end-effector’s position are derived through the analysis of its driving subsystem and motion subsystem, in particular the joint modules. To perform the tasks of manipulators with the help of operators, a teleoperation control scheme with modified wave transmission structure is designed to achieve the guaranteed stability and improved transparency, and the leader’s trajectory and generated force feedback are the transmitted signals in the communication channel. Specifically, a virtual force feedback generation algorithm is developed in the teleoperation control scheme via the processing tracking errors, which can improve the operators’ assistance and perception during the teleoperation process. The practical experiments with comparative wave variable structures in two different sets are implemented to verify the effectiveness of proposed kinematics model and control scheme.
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16
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Qi X, Shi H, Pinto T, Tan X. A Novel Pneumatic Soft Snake Robot Using Traveling-Wave Locomotion in Constrained Environments. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2969923] [Citation(s) in RCA: 18] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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17
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Nakajima M, Tanaka M, Tanaka K. Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2019.2947003] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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18
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Matsumoto N, Tanaka M, Nakajima M, Fujita M, Tadakuma K. Development of a folding arm on an articulated mobile robot for plant disaster prevention. Adv Robot 2019. [DOI: 10.1080/01691864.2019.1689167] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/25/2022]
Affiliation(s)
- Nobutaka Matsumoto
- Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan
| | - Motoyasu Tanaka
- Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan
| | - Mizuki Nakajima
- Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Japan
| | - Masahiro Fujita
- Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku University, Sendai, Japan
| | - Kenjiro Tadakuma
- Department of Applied Information Sciences, Graduate School of Information Sciences, Tohoku University, Sendai, Japan
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19
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Sawabe H, Nakajima M, Tanaka M, Tanaka K, Matsuno F. Control of an articulated wheeled mobile robot in pipes. Adv Robot 2019. [DOI: 10.1080/01691864.2019.1666737] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
Affiliation(s)
- Hidemasa Sawabe
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Mizuki Nakajima
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Motoyasu Tanaka
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Kazuo Tanaka
- Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Fumitoshi Matsuno
- Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan
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20
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Tanaka M, Tadakuma K, Nakajima M, Fujita M. Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2018.2878361] [Citation(s) in RCA: 16] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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21
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Fujisawa R, Tanaka M, Fujikawa T. Development of an experimental system for a snake-like gliding model. ARTIFICIAL LIFE AND ROBOTICS 2018. [DOI: 10.1007/s10015-018-0490-6] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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22
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Takemori T, Tanaka M, Matsuno F. Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration. IEEE T ROBOT 2018. [DOI: 10.1109/tro.2018.2830346] [Citation(s) in RCA: 47] [Impact Index Per Article: 7.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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23
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Mishra AK, Mondini A, Del Dottore E, Sadeghi A, Tramacere F, Mazzolai B. Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module. Biomimetics (Basel) 2018; 3:E3. [PMID: 31105225 PMCID: PMC6352674 DOI: 10.3390/biomimetics3010003] [Citation(s) in RCA: 26] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/18/2017] [Revised: 01/20/2018] [Accepted: 02/02/2018] [Indexed: 11/29/2022] Open
Abstract
We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a constant radius around its rotation axis, large and highly repeatable bending, complete rotation, and passive stiffness. We present an extensive analysis and characterization of the basic module of the SIMBA arm in terms of design, fabrication, kinematic model, stiffness, and bending behavior. All the theoretical models presented were validated with empirical results. Our findings show a positional typical error of less than ≈6% in module diameter (highly repeatable) with a passive stiffness of 0.8 N/mm (≈1 kg load). Our aim is to demonstrate that this kind of robotic element can be exploited as an elementary module of a more complex structure, which can be used in any application requiring high directional stiffness but without the need for an active stiffness mechanism, as is the case in daily activities (e.g., door opening, water pouring, obstacle avoidance, and manipulation tasks).
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Affiliation(s)
- Anand Kumar Mishra
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy.
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Italy.
| | - Alessio Mondini
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy.
| | - Emanuela Del Dottore
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy.
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Italy.
| | - Ali Sadeghi
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy.
| | - Francesca Tramacere
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy.
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy.
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24
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Transition Analysis and Its Application to Global Path Determination for a Biped Climbing Robot. APPLIED SCIENCES-BASEL 2018. [DOI: 10.3390/app8010122] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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25
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Abstract
SUMMARYIn this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the actuators travel over the links to a given joint and adjust the relative angle between the two adjacent links. The joints passively preserve their angles until one of the actuators moves them again. This actuation can be applied to any serial robot with two or more links. This unique configuration enables the robot to undergo the same wide range of motions typically associated with hyper-redundant robots but with much fewer actuators. The robot is modular and its size and geometry can be easily changed. We describe the robot's mechanical design and kinematics in detail and demonstrate its capabilities for obstacle avoidance with some simulated examples. In addition, we show how an experimental robot fitted with a single mobile actuator can maneuver through a confined space to reach its target.
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26
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Li C, Pullin AO, Haldane DW, Lam HK, Fearing RS, Full RJ. Terradynamically streamlined shapes in animals and robots enhance traversability through densely cluttered terrain. BIOINSPIRATION & BIOMIMETICS 2015; 10:046003. [PMID: 26098002 DOI: 10.1088/1748-3190/10/4/046003] [Citation(s) in RCA: 34] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/04/2023]
Abstract
Many animals, modern aircraft, and underwater vehicles use fusiform, streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through cluttered terrain where three-dimensional, multi-component obstacles like grass, shrubs, vines, and leaf litter also resist motion, but it is unknown whether their body shape plays a major role in traversal. Few ground vehicles or terrestrial robots have used body shape to more effectively traverse environments such as cluttered terrain. Here, we challenged forest-floor-dwelling discoid cockroaches (Blaberus discoidalis) possessing a thin, rounded body to traverse tall, narrowly spaced, vertical, grass-like compliant beams. Animals displayed high traversal performance (79 ± 12% probability and 3.4 ± 0.7 s time). Although we observed diverse obstacle traversal strategies, cockroaches primarily (48 ± 9% probability) used a novel roll maneuver, a form of natural parkour, allowing them to rapidly traverse obstacle gaps narrower than half their body width (2.0 ± 0.5 s traversal time). Reduction of body roundness by addition of artificial shells nearly inhibited roll maneuvers and decreased traversal performance. Inspired by this discovery, we added a thin, rounded exoskeletal shell to a legged robot with a nearly cuboidal body, common to many existing terrestrial robots. Without adding sensory feedback or changing the open-loop control, the rounded shell enabled the robot to traverse beam obstacles with gaps narrower than shell width via body roll. Such terradynamically 'streamlined' shapes can reduce terrain resistance and enhance traversability by assisting effective body reorientation via distributed mechanical feedback. Our findings highlight the need to consider body shape to improve robot mobility in real-world terrain often filled with clutter, and to develop better locomotor-ground contact models to understand interaction with 3D, multi-component terrain.
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Affiliation(s)
- Chen Li
- Department of Integrative Biology, University of California, Berkeley 5130 Valley Life Sciences Building, University of California, Berkeley, California 94720-3140, USA. Department of Electrical Engineering and Computer Sciences, University of California, Berkeley 317 Cory Hall, University of California, Berkeley, California 94720-1770, USA
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