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Fast and efficient locomotion of a snake robot based on self-excitation principle

Fast and efficient locomotion of a snake robot based on self-excitation principle,10.1109/AMC.2002.1026977,Junji Ute,Kyosuke Ono

Fast and efficient locomotion of a snake robot based on self-excitation principle   (Citations: 10)
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Snake-like animal locomotion by means of friction force can perform various kinds of motion and body shape. In order to realize high speed and high efficiency locomotion, the authors applied the self-excited locomotion principle to a snake mechanism. First, they analyzed the kinematics and the dynamics of a three-link snake mechanism driven by self-excitation. Then, they manufactured the first prototype of a snake robot called "SES-1". By using the experimentally identified traction parameters of the robot, they found a good agreement between the experimental and simulated results and a locomotion velocity of 0.4[m/s]. Furthermore, they showed high efficiency of the self-excited snake locomotion. Lastly, they introduced the second prototype of the self-excited snake robot called "SES-2" that is radio-controlled.
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    • ...They rely on a kinematic (Prautsch and Mita 1999 and Date et al. 2001) or dynamic (Ute and Ono 2002; Burdick et al. 1995; Chirikjian and Burdick 1995) model of the robot’s locomotion in order to design control laws for the gait generation...

    Shahir Hasanzadehet al. Ground adaptive and optimized locomotion of snake robot moving with a ...

    • ...Other similar prototypes are SES-2 [11], WormBot [12] and Amphibot I [13]...

    H. X. Zhanget al. Embedded intelligent capability of a modular robotic system

    • ...The concept of passive locomotion is utilized in snakelike robots to follow the serpenoid curves with efficient power utilization [10]-[12]...

    Mahdi Haghshenas-Jaryaniet al. Modeling and sliding mode control of a snake-like robot with holonomic...

    • ...Other similar prototypes are SES-2 [23], WormBot [24] and the swimming Amphibot I [25]...

    Houxiang Zhanget al. Development of a low-cost flexible modular robot GZ-I

    • ...Ongoing work at the Tokyo Institute of Technology continues to expand Hirose’s results with numerous recent publications on snake robots by many authors [17]‐[21]...
    • ...Sometimes, a Coulomb friction contact model is assumed [28], [29], sometimes a pure viscous contact model [30], and sometimes combinations of viscous/coulomb friction models [21], [31]...
    • ...Experimental comparisons using rolling snakes were recently presented by Ute and Ono [21], by Ma et al. [32], and by Ye et al. [33]...
    • ...However, the efficiency of snake robot locomotion is reported to be poor [21], [31] to an extent that some researchers argue that the use of snake robots is best motivated by a snake’s ability to complete tasks that are intractable to other vehicles, not energy efficiency [27]...
    • ...Consistent with the work of others [21], [27], [31], the optimal gait and corresponding locomotion efficiency in this analysis is defined as the gait that consumes minimum power to locomote the center of mass at a given average velocity...
    • ...power utilized can be obtained from the dot product of the input torque[uasin(11)and(21)]andthecorrespondingjointangular velocities ([ ˙ φi]), a technique also employed in simulation-based studies [21]...

    Vipul Mehtaet al. Experimentally Verified Optimal Serpentine Gait and Hyperredundancy of...

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