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Showing 1 to 4 of 4 for “"Snake robot"”.
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Design and Control of a Cable-Driven Articulated Modular Snake Robot
… design and control of a cable-actuated mobile snake robot. The goal of this research is to reduce the size of snake robots and improve their locomotive efficiency by simultaneously actuating groups of links to fit optimized curvature profiles. The basic functional unit of the snake is a …
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Adaptive Path Following of the Biomorphic Hyper-Redundant Snake Robot in Unconstructed Environment
The efficient movement of biological snakes in various environments is the result of a long evolution. It is a challenge for researchers to make snake robots gain high efficiency, athletic agility, and environmental adaptability of snakes due to the complicated motion control issues caused by …
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Design and control of a gravity-assisted underactuated snake robot with application to aircraft wing assembly
… the design and control of a hyper-articulated robot arm comprising just a few active joints driving a multitude of passive joints. This underactuated arm design was motivated by the need for a compact snake-like robot for assembly operations inside an aircraft wing. The interior of the wing is …
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Motion planning for multi-link robots with artificial potential fields and modified simulated annealing
… algorithm for motion planning of a multi-link robots team. The principle of this work is based on the locomotion of a snake where subsequent links follow the trace of the head. The proposed algorithm uses the APF method which provides simple, efficient and effective path planning and the …