Abstract
As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. In the paper, a snake-like robot based on cylinder module is developed. The robot prototype consists of eleven modules that are connected by revolute joints. Each joint has two degrees of freedom and allows bending in two mutually orthogonal planes. The serpenoid curve is considered as the control law and control parameters of snake curve are chosen by simulation and adjusted after experiment. Experimental results of snake robot show that the gait based on serpentine curve is reasonable and controlled easily.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Transeth, A.A., Pettersen, K.Y.: Developments in snake robot modeling and locomotion. In: 9th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2006, pp. 1–8 (2006)
Hirose, S.: Biologically inspired robots: Snake-like locomotors and manipulators (1993)
Klaassen, B., Paap, K.L.: Gmd-snake2: a snake-like robot driven by wheels and a method for motion control. In: Proceedings of 1999 IEEE International Conference on Robotics and Automation, vol. 4, pp. 3014–3019. IEEE (1999)
Liljeback, P., Fjerdingen, S., Pettersen, K.Y., Stavdahl, O.: A snake robot joint mechanism with a contact force measurement system. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 3815–3820. IEEE (2009)
Nilsson, M.: Serpentine locomotion on surfaces with uniform friction. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), vol. 2, pp. 1451–1455. IEEE (2004)
Liljeback, P., Stavdahl, O., Pettersen, K.: Modular pneumatic snake robot: 3d modelling, implementation and control. Modeling, Identification and Control 29(1), 21–28 (2008)
Yamada, H., Chigisaki, S., Mori, M., Takita, K., Ogami, K., Hirose, S.: Development of amphibious snake-like robot acm-r5. In: Proc. ISR 2005 (2005)
Miyanaka, H., Wada, N., Kamegawa, T., Sato, N., Tsukui, S., Igarashi, H., Matsuno, F.: Development of an unit type robot kohga2 with stuck avoidance ability. In: 2007 IEEE International Conference on Robotics and Automation, pp. 3877–3882. IEEE (2007)
Vossoughi, G., Pendar, H., Heidari, Z., Mohammadi, S.: Assisted passive snake-like robots: conception and dynamic modeling using gibbs–appell method. Robotica 26(3), 267–276 (2008)
Transeth, A.A., Leine, R.I., Glocker, C., Pettersen, K.Y.: Non-smooth 3d modeling of a snake robot with frictional unilateral constraints. In: IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, pp. 1181–1188. IEEE (2006)
Liljeback, P., Stavdahl, O., Beitnes, A.: Snakefighter-development of a water hydraulic fire fighting snake robot. In: 9th International Conference on Control, Automation, Robotics and Vision, ICARCV 2006, pp. 1–6. IEEE (2006)
Sato, M., Fukaya, M., Iwasaki, T.: Serpentine locomotion with robotic snakes. IEEE Control Systems Magazine 22(1), 64–81 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Gao, Q., Wang, Z., Shang, H., Hu, W., Jiang, M. (2013). Mechanism Design and Locomotion of a Snake Robot. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_68
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_68
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)