Walker ID, Choset H, and Chirikjian GS. Snake-like and continuum robots. In: Siciliano B and Khatib O (eds) Springer handbook of robotics. Berlin, Heidelberg: Springer International Publishing, 2016, pp. 481-498.Walker, I.D., et al.: Snake-like and continuum robots. In: Springer ...
The “tendon-driven” continuum robots depicted here are, in real life, about seven millimetres in diameter and are built in sections that can range in length from 15 to 70 millimetres. Other models can be even narrower. All exhibit a tentacle-like motion. Credit: University of Toronto Jessic...
Therefore, both rigid and flexible continuum robots can be regarded as serial hyper-redundant robots [5]. Continuum snake robots are widely used in complex and extreme environments, such as nuclear power, medical treatment, space, post-disaster rescue and other high-risk narrow spaces [6–10]....
The dynamics equations of the snake-like robot are reasonably simplified based on the continuum model. Based on the dynamics equations, the joint angle parameter set can be obtained to stabilize the centre-of-mass velocity in the case of no sideslip. Then, the parameter for stabilizing the cen...
Trajectory Tracking Control of Snake Robots Based on Dynamic Model Proc. IEEE Int. Conf. on Robotics and Automation (2005), pp. 3029-3034 CrossrefView in ScopusGoogle Scholar Tanaka and Matsuno, 2008 Tanaka M., Matsuno F. Control of 3D snake-like locomotive mechanism based on continuum modeli...
This paper mainly studies an autonomous path-planning and real-time path-tracking optimization method for snake robot. Snake robots can perform search and ... O Itani,E Shammas - 《Nonlinear Dynamics》 被引量: 0发表: 2021年 The Parameterized Complexity of Motion Planning for Snake-Like Robots...
However, there is a unique approach based on a central-pattern-generator controller, which is investigated for optimization, and adaptive path following of snake-like robots [28]. This strategy smooths the control signal by eliminating the serpentine function, which generates the reference trajectory ...
Nature has inspired engineers at UNSW Sydney to develop a soft fabric robotic gripper which behaves like an elephant's trunk to grasp, pick up and release objects without breaking them. The researchers say the versatile technology could be widely applied in sectors where fragile objects are handled...
This chapter reviews how variational methods have been used previously to analyze three classes of snakelike robots: (1) hyper-redundant manipulators guided by backbone curves; (2) flexible steerable needles; and (3) concentric tube continuum robots. Both coordinate-dependent Euler-Lagrange ...
This chapter reviews how variational methods have been used previously to analyze three classes of snakelike robots: (1) hyper-redundant manipulators guided by backbone curves; (2) flexible steerable needles; and (3) concentric tube continuum robots. Both coordinate-dependent Euler-Lagrange ...