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Search-based configuration planning and motion control algorithms for a snake-like robot performing load-intensive operations

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Abstract

Snake-like robots can enable workers to avoid difficult-to-reach, dangerous, and hazardous environments while enhancing their capabilities. The technologies developed for a snake-like robot can be transferred to applications such as robotic exploration, minimally invasive surgical robotics, and robotic manipulation in manufacturing industries. In this paper we consider high-load tasks, such as drilling through the studs inside a wall, using a snake-like robot. The key technical innovation in this work is to design a search-based planning algorithm for high degree of freedom articulated systems that explicitly takes into account contact with surfaces in the environment in order to garner mechanical support for performing load-intensive tasks. In case of a snake-like robot, contacts with the studs and other structural members within walls need to be exploited to its advantage for bracing against walls for support in order to climb up or perform load-intensive operations such as drilling. We present a contact-augmented graph construction, which is the main technical tool for finding stable load-bearing configurations. We also develop motion controllers for moving the robot into the planned configuration and progressing the robot during the drilling process. We validate the algorithms through simulation and introduce a preliminary experimental setup.

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Notes

  1. The end where the child segment will be attached. For the FLX BOT system this is referred to as the proximal end.

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Authors and Affiliations

  1. The Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, Pennsylvania, 18015, USA

    Xiaolong Wang & Subhrajit Bhattacharya

  2. FLX Solutions, Inc, Bethlehem, Pennsylvania, 18015, USA

    Matthew Bilsky

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  1. Xiaolong Wang
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  2. Matthew Bilsky
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  3. Subhrajit Bhattacharya
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Correspondence to Xiaolong Wang.

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Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This paper was financed in part by grants from the Commonwealth of Pennsylvania, Ben Franklin Technology Development Authority and the Pennsylvania Infrastructure Technology Alliance. The project is also partially financed by FLX Solutions, Inc.

We would like to thank the reviewers for their time and effort in evaluating this paper and providing valuable feedback and suggestions, which has immensely helped with improving the quality of the paper. We would also like to thank Stephen Brawner, Robottimo, LLC, for his help with developing the Gazebo model of the FLX BOT.

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Wang, X., Bilsky, M. & Bhattacharya, S. Search-based configuration planning and motion control algorithms for a snake-like robot performing load-intensive operations. Auton Robot 45, 1047–1076 (2021). https://doi.org/10.1007/s10514-021-10017-6

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