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Journal articles on the topic 'Simulation of snake-like robots'

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Published: 28 June 2021

Last updated: 27 July 2025

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1

Cao, Zhengcai, Dong Zhang, Biao Hu, and Jinguo Liu. "Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator." Complexity 2019 (January 21, 2019): 1–13. http://dx.doi.org/10.1155/2019/8030374.

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This work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot for

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2

Hůlka, Tomáš, Radomil Matoušek, Ladislav Dobrovský, Monika Dosoudilová, and Lars Nolle. "Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design." MENDEL 26, no. 1 (2020): 1–6. http://dx.doi.org/10.13164/mendel.2020.1.001.

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This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In

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3

Hasseler, Tristan D., Carl Leake, Aaron Gaut, et al. "EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development." Aerospace 11, no. 10 (2024): 795. http://dx.doi.org/10.3390/aerospace11100795.

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EELS-DARTS is a simulator designed for autonomy development and analysis of large degree of freedom snake-like robots for space exploration. A detailed description of the EELS-DARTS simulator design is presented. This includes the versatile underlying multibody dynamics representation used to model a variety of distinct snake robot configurations as well as an anisotropic friction model for describing screw–ice interaction. Additional simulation components such as graphics, importable terrain, joint controllers, and perception are discussed. Methods for setting up and running simulations are d

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Abdulrab, Hakim Q. A., Ili Najaa Aimi Mohd Nordin, Muhammad Rusydi Muhammad Razif, and Ahmad Athif Mohd Faudzi. "Snake-like Soft Robot Using 2-Chambers Actuator." ELEKTRIKA- Journal of Electrical Engineering 17, no. 1 (2018): 34–40. http://dx.doi.org/10.11113/elektrika.v17n1.39.

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Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The

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Ivan, Virgala, and Filakovský Filip. "CONCERTINA LOCOMOTION OF A SNAKE ROBOT IN THE PIPE." TECHNICAL SCIENCES AND TECHNOLOG IES, no. 4 (14) (2018): 109–17. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-109-117.

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Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Inspection of the pipes is well-known engineering application. For this application are usually used wheel-based robots. Another approaches are based on biologically inspired mechanisms like inchworm robot. Our study deals with another kind of pipe inspection robot, namely snake robot. Target setting. Modeling and testing of snake robot

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Marín Arciniegas, Jairo José, and Oscar Andrés Vivas Albán. "Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions." TecnoLógicas 26, no. 56 (2022): e2412. http://dx.doi.org/10.22430/22565337.2412.

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Bio-inspired robots offer locomotion versatility in a wide variety of terrains that conventional robots cannot access. One such bio-inspired platform is snake-like robots, which are mechanisms designed to move like biological snakes. The aim of this paper was to implement and validate, through comparison in real and simulation tests on flat terrain, the design of a snake robot that allows movements in two perpendicular planes, by the application of three-dimensional locomotion modes. The prototype robot had a modular and sequential architecture composed of eight 3D printed segments. The necess

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7

Vossoughi, Gholamreza, Hodjat Pendar, Zoya Heidari, and Saman Mohammadi. "Assisted passive snake-like robots: conception and dynamic modeling using Gibbs–Appell method." Robotica 26, no. 3 (2008): 267–76. http://dx.doi.org/10.1017/s0263574707003864.

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SUMMARYIn this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs–Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs–Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of ini

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Sadasue, Yuki, Hayato Nagae, Jyunta Takarabe, and Masami Iwase. "Development of Snake-Like Robot for Cable-Laying —Motion Design for Locomotion over Cable Racks and Ceiling Spaces." Journal of Robotics and Mechatronics 36, no. 6 (2024): 1408–18. https://doi.org/10.20965/jrm.2024.p1408.

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The purpose of this study is to develop a snake-like robot for cable laying. Cable laying is one of the tasks that inevitably occur in construction work. Cable laying is generally performed manually by workers in high and narrow spaces, such as cable racks installed in ceilings and ceiling spaces. Therefore, it involves significant risks, such as falls. To ensure worker safety and enable anyone to perform the task, automation and labor-saving through robots are anticipated. Therefore, this study aims to develop a snake-like robot that pulls a lead cable through traveling wave inspired by worke

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Yang, Zhiyong, Zhen Fang, Shengze Yang, Yuhong Xiong, and Daode Zhang. "Research on the Spiral Rolling Gait of High-Voltage Power Line Serpentine Robots Based on Improved Hopf-CPGs Model." Applied Sciences 15, no. 3 (2025): 1285. https://doi.org/10.3390/app15031285.

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The efficiency of helical locomotion in snake-like robots along high-voltage transmission lines is often hindered by low motion efficiency, high joint signal noise, and challenges in traversing obstacles. This study aims to address these issues by proposing a gait generation method that leverages a standardized Central Pattern Generator (CPG). We modify the traditional Hopf-CPG model by incorporating constraint functions and a frequency-tuning mechanism to regulate the oscillator, which allows for the generation of asymmetric waveform signals for deflection joints and facilitates rapid converg

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Ansari, Beenish, and Shahnawaz Shah. "Modeling and Control of a Snake Robot using SimMechanics." Sukkur IBA Journal of Emerging Technologies 6, no. 2 (2024): 1–10. http://dx.doi.org/10.30537/sjet.v6i2.1378.

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Snake robots are biological inspired robots designed to locomote in an unwanted environment. The mechanism comprises of serially connected links through rotational joints capable of rotating its body in one or more plans. In this paper, snake robot model is proposed. The proposed model consists of a 10-links physically connected through joints. The aim of this work is to propel a snake robot consisting of 10-link through the n-1 rotary joint on the serpentine aisle. Structure of the entire mechanical model of a snake is created in Simmechanics, MATLAB library tool within Simulink environment.

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Huynh, Phu Duc, and Tuong Quan Vo. "An application of genetic algorithm to optimize the 3-Joint carangiform fish robot’ s links to get the desired straight velocity." Science and Technology Development Journal 18, no. 1 (2015): 27–36. http://dx.doi.org/10.32508/stdj.v18i1.920.

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Biomimetic robot is a new branch of researched field which is developing quickly in recent years. Some of the popular biomimetic robots are fish robot, snake robot, dog robot, dragonfly robot, etc. Among the biomimetic underwater robots, fish robot and snake robot are mostly concerned. In this paper, we study about an optimization method to find the design parameters of fish robot. First, we analyze the dynamic model of the 3-joint Carangiform fish robot by using Lagrange method. Then the Genetic Algorithm (GA) is used to find the optimal lengths’ values of fish robot’s links. The constraint o

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Barazandeh, Farshad, Hossein Rahnamafard, Mehdi Rajabizadeh, and Hossein Faraji. "Engineering observation of lateral undulation in colubrid snakes for wheel-less locomotion." Robotica 30, no. 7 (2011): 1079–93. http://dx.doi.org/10.1017/s0263574711001251.

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SUMMARYNature has always inspired engineers. This research tries to understand the contribution of snake anatomy in its locomotion from engineering point of view to be adopted in the design of snake robots. Rib design and muscular structure of snake robots will have a great impact on snake robot flexibility, weight, and actuators' torque. It will help to eliminate wheels in snake robots during serpentine locomotion. The result of this research shows that snakes can establish the required peg points on smooth surfaces by deflecting the body and ribs. The results are verified by both field obser

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Shethwala, Yash Dinesh, Ravi Pravinbhai Patel, Darshankumar Rajendrakumar Shah, and Saurin M. Sheth. "A Novel Concept of Biomorphic Hyper-Redundant Snake Robot." International Journal of Disaster Response and Emergency Management 2, no. 1 (2019): 33–49. http://dx.doi.org/10.4018/ijdrem.2019010103.

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Disaster is a sudden accident or a natural calamity that causes great damage or loss of life and property. In any disastrous conditions, a lot of manpower is wasted and still unable to save some lives. A biomorphic hyper-redundant snake-like robot may help in such situations. Its excellent property of getting into small spaces and ability to traverse along any surface can be very helpful in search and rescue operations. These robots can help to locate humans in a disaster and provide precise information about its condition to rescuers. It can also be used in other domains like military, underw

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Woodford, Grant W., and Mathys C. du Plessis. "Complex Morphology Neural Network Simulation in Evolutionary Robotics." Robotica 38, no. 5 (2019): 886–902. http://dx.doi.org/10.1017/s0263574719001140.

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SUMMARYThis paper investigates artificial neural network (ANN)-based simulators as an alternative to physics-based approaches for evolving controllers in simulation for a complex snake-like robot. Prior research has been limited to robots or controllers that are relatively simple. Benchmarks are performed in order to identify effective simulator topologies. Additionally, various controller evolution strategies are proposed, investigated and compared. Using ANN-based simulators for controller fitness estimation during controller evolution is demonstrated to be a viable approach for the high-dim

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15

Hu, Jian, Tangyou Liu, Haijun Zeng, Ming Xuan Chua, Jayantha Katupitiya, and Liao Wu. "Static Modeling of a Class of Stiffness-Adjustable Snake-Like Robots with Gravity Compensation." Robotics 12, no. 1 (2022): 2. http://dx.doi.org/10.3390/robotics12010002.

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Stiffness-adjustable snake-like robots have been proposed for various applications, including minimally invasive surgery. Based on a variable neutral-line mechanism, previous works proposed a class of snake-like robots that can adjust their stiffness by changing the driving cables’ tensions. A constant curvature hypothesis was used to formulate such robots’ kinematics and was further verified by our previous work via rigorous force analysis and ADAMS simulations. However, all these models and analyses have ignored the effect of the robot links’ gravity, resulting in significant errors in real

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16

Douadi, Lounis, Davide Spinello, Wail Gueaieb, and Hassan Sarfraz. "Planar kinematics analysis of a snake-like robot." Robotica 32, no. 5 (2013): 659–75. http://dx.doi.org/10.1017/s026357471300091x.

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SUMMARYThis paper presents the kinematics of a planar multibody vehicle which is aimed at the exploration, data collection, non-destructive testing and general autonomous navigation and operations in confined environments such as pipelines. The robot is made of several identical modules hinged by passive revolute joints. Every module is actuated with four active revolute joints and can be regarded as a parallel mechanism on a mobile platform. The proposed kinematics allows to overcome the nonholonomic kinematic constraint, which characterizes typical wheeled robots, resulting into a higher num

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Li, Dongfang, Zhenhua Pan, Hongbin Deng, and Teng Peng. "Trajectory tracking control law of multi-joint snake-like robot based on improved snake-like curve in flow field." International Journal of Advanced Robotic Systems 16, no. 2 (2019): 172988141984466. http://dx.doi.org/10.1177/1729881419844665.

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Aiming at the problem of trajectory tracking between joints of the multi-joint snake-like robot in the flow fields, a trajectory tracking control law proposed based on the improved snake-like curve of a multi-joint snake-like robot to avoid obstacles in the flow fields is studied. Firstly, considering the external disturbance that the fluid environment may impose on the multi-joint snake-like robot system, from the point of view of probability, the fluid–solid coupling models of the obstacle channel and multi-joint snake-like robot are established in the flow field by using immersed boundary-l

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Nansai, Shunsuke, Takumi Yamato, Masami Iwase, and Hiroshi Itoh. "Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer." Applied Sciences 9, no. 19 (2019): 4012. http://dx.doi.org/10.3390/app9194012.

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The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be

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19

Kim, Sung-Jae, and Jin-Ho Suh. "Adaptive Robust RBF-NN Nonsingular Terminal Sliding Mode Control Scheme for Application to Snake Robot’s Head for Image Stabilization." Applied Sciences 13, no. 8 (2023): 4899. http://dx.doi.org/10.3390/app13084899.

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Image stabilization is important for snake robots to be used as mobile robots. In this paper, we propose an adaptive robust RBF neural network nonsingular terminal sliding mode control to reduce swinging in the snake robot’s head while it is being driven. To avoid complex dynamic problems and reduce interference during driving, we propose a 2-DOF snake robot’s head system. We designed the control system based on the nonsingular terminal sliding mode control, which ensures a fast response and finite time convergence. To reduce chattering, we incorporated an RBF neural network that can compensat

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Wang, Shoubo, and Hongze Liu. "Design and Kinematics Analysis of Tensioning Integral Robot." Journal of Engineering Research and Reports 26, no. 6 (2024): 307–18. http://dx.doi.org/10.9734/jerr/2024/v26i61182.

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In the past two decades, the technology of robots has developed rapidly. With the enrichment of social needs and applications, the functions of robots have become diversified. The tension-integrated robot designed in this paper is based on the British OC Robotics Series II X125 robot for mechanism design. The mathematical model of the tension-integrated robot is derived, and the kinematic simulation is carried out by Adams and Matlab to verify the correctness of the mathematical model, and the kinematic analysis of the tension-integrated robot is carried out. Firstly, the development and resea

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Li, Dongfang, Zhenhua Pan, and Hongbin Deng. "Two-dimensional obstacle avoidance control algorithm for snake-like robot in water based on immersed boundary-lattice Boltzmann method and improved artificial potential field method." Transactions of the Institute of Measurement and Control 42, no. 10 (2020): 1840–57. http://dx.doi.org/10.1177/0142331219897992.

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In order to study the adaptability of a multi-redundancy and multi-degree-of-freedom snake-like robot to underwater motion, a two-dimensional (2-D) obstacle avoidance control algorithm for a snake-like robot based on immersed boundary-lattice Boltzmann method (IB-LBM) and improved artificial potential field (APF) is proposed in this paper. Firstly, the non-linear flow field model is established under the framework of LBM, and the IB method is introduced to establish a fluid solid coupling of a 2-D soft snake-like robot. Then, the obstacle avoidance of a snake-like robot in a flow field is real

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Zhang, Peng, Yong Zang, Ben Guan, Zhaolin Wu, and Zhiying Gao. "Analysis and Optimization Based on Factors Affecting the Spiral Climbing Locomotion of Snake-like Robot." Electronics 11, no. 23 (2022): 4002. http://dx.doi.org/10.3390/electronics11234002.

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The snake-like robot is a limbless bionic robot widely used in unstructured environments to perform tasks with substantial functional flexibility and environmental adaptability in complex environments. In this paper, the spiral climbing motion of a snake-like robot on the outer surface of a cylindrical object was studied based on the three-dimensional motion of a biological snake, and we carried out the analysis and optimization of the motion-influencing factors. First, the spiral climbing motion of the snake-like robot was implemented by the angle control method, and the target motion was stu

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Zhao, Ning, Sikai Zhao, Tianjiao Zheng, et al. "Modular Snake-like Robot Designed for On-Site Reconfiguration in Space Exploration." Biomimetics 10, no. 5 (2025): 293. https://doi.org/10.3390/biomimetics10050293.

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Research on modular robots for space exploration has primarily focused on reconfiguration, with limited attention given to the maneuverability in space environment, which is essential for harnessing the advantages of reconfiguration. In this paper, a modular snake-like robot (MSR) is designed, which is expected to emulate a snake to navigate complex environments and employ the reconfiguration capability for on-site shape-shifting. To this end, a snake-like motion analysis and planning method is proposed for MSR. Firstly, we explore the feasibility of utilizing modules in realizing snake-like m

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Yan, Zhimin, Jinbo Li, Jianyang Liu, Chaoyi Li, and Xiaoxin Zhang. "Design and simulation of reconfigurable modular snake robots with bevel gear transmission." Molecular & Cellular Biomechanics 21, no. 3 (2024): 513. http://dx.doi.org/10.62617/mcb513.

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With the advancement of technologies, robotics is playing an increasingly important role in various fields. The snake robot has attracted widespread academic attention due to its efficient and flexible movement characteristics. Nevertheless, its popularity and application range are constrained by complex control, low durability, and high cost. Given this, this study proposed a modular design framework based on the concept of modular design and a reconfigurable modular snake robot using bevel gear transmission. The snake robot consists of several basic module units with the same structure, whic

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Korendiy, Vitaliy, Oleh Kotsiumbas, Volodymyr Borovets, Volodymyr Gurey, and Rostyslav Predko. "Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion." Vibroengineering PROCEDIA 44 (August 25, 2022): 1–7. http://dx.doi.org/10.21595/vp.2022.22832.

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The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such robots are equipped with an active drive system transmitting the torque from a motor shaft to the corresponding locomotion mechanism (wheels, tracks, etc.). The present paper is devoted to the wheeled in-pipe robot that doesn’t need a complex transmission. In such a case, the idea of implementing the vibratory locomotio

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Liljebäck, Pål, Kristin Y. Pettersen, Øyvind Stavdahl, and Jan Tommy Gravdahl. "Lateral undulation of snake robots: a simplified model and fundamental properties." Robotica 31, no. 7 (2013): 1005–36. http://dx.doi.org/10.1017/s0263574713000295.

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SUMMARYThis paper considers the lateral undulation motion of snake robots. The first contribution of the paper is a model of lateral undulation dynamics developed for control design and stability analysis purposes. The second contribution is an analysis of the simplified model that shows that any asymptotically stabilizing control law for the snake robot to an equilibrium point must be time varying. Furthermore, the analysis shows that a snake robot (with four links) is strongly accessible from almost any equilibrium point, except for certain singular configurations, and that the robot does no

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Bae, Junseong, Myeongjin Kim, Bongsub Song, Maolin Jin, and Dongwon Yun. "Snake Robot with Driving Assistant Mechanism." Applied Sciences 10, no. 21 (2020): 7478. http://dx.doi.org/10.3390/app10217478.

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Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments

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Yang, Zhiyong, Fan Wang, Jianguo Liu, Zhen Fang, Chen Tian, and Daode Zhang. "Controlling the Crawling Speed of the Snake Robot along a Cable Based on the Hopf Oscillator." Electronics 12, no. 14 (2023): 3094. http://dx.doi.org/10.3390/electronics12143094.

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To make the snake robot crawl quickly along the high-voltage cable, this paper employs the Simulated Annealing Algorithm (SAA) to find the optimal step size for the spiral-winding gait of the snake robot and improve its crawling speed along the high-voltage cable. First, a spiral-winding gait for the robot is designed based on the configuration of the snake robot and the crawling environment along the cable. Next, the double-chain Hopf oscillator is used to generate the spiral-winding gait for the snake-like robot. After that, based on the snake robot’s position, the SAA is employed to improve

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Kalani, Hadi, Alireza Akbarzadeh, and Hossein Bahrami. "Application of statistical techniques in modeling and optimization of a snake robot." Robotica 31, no. 4 (2012): 623–41. http://dx.doi.org/10.1017/s0263574712000616.

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SUMMARYThis paper provides a general framework based on statistical design and Simulated Annealing (SA) optimization techniques for the development, analysis, and performance evaluation of forthcoming snake robot designs. A planar wheeled snake robot is considered, and the effect of its key design parameters on its performance while moving in serpentine locomotion is investigated. The goal is to minimize energy consumption and maximize distance traveled. Key kinematic and dynamic parameters as well as their corresponding range of values are identified. Derived dynamic and kinematic equations o

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Ashish, M. Thakkar, and J. Patel Vinay. "Walking Simulation of Biped Robot: A MATLAB/Simulink Module Approach." Indian Journal of Science and Technology 17, no. 1 (2024): 47–58. https://doi.org/10.17485/IJST/v17i1.2500.

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Abstract <strong>Objective:</strong> This research aims to replicate a human-like walking gait in a bipedal robot through meticulous mechanical design and engineering. The primary objective is to provide quantitative evidence of the robot's capabilities and to compare its performance with existing bipedal robots. <strong>Methods: </strong>A highly detailed biped robot model, featuring 12 degrees of freedom (DoF), was crafted using 3D CAD software. Subsequently, this model was imported into the Simulink simulation environment within MATLAB. The focus of the simulation was on achi

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Zhao, Dong-Jie, Han-Lin Sun, Zhao-Cai Du, Yan-Bin Yao, and Jing-Shan Zhao. "Kinetostatics of a Snake Robot with Redundant Degrees of Freedom." Machines 12, no. 8 (2024): 526. http://dx.doi.org/10.3390/machines12080526.

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This paper proposes a kinetostatic approach for analyzing the joint torques of a redundant snake robot. The method is suitable for weightless space environments. With the high degree of freedom and flexible cable actuation, the redundant snake robot is well-suited for utilization in space-weightless environments. This method reduces computational cost by using the multiplication of matrices and vectors instead of inverse matrices. Taking advantage of the velocity screw (twist) and force screw (wrench), this strategy provides an idea for redundant serial robots to achieve the calculation of joi

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Sanfilippo, Filippo, Erlend Helgerud, Per Stadheim, and Sondre Aronsen. "Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism." Applied Sciences 9, no. 3 (2019): 396. http://dx.doi.org/10.3390/app9030396.

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Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven obstacle-aided locomotion (POAL). From a control point of view, achieving POAL with traditional rigidly-actuated robots is challenging because of the complex interaction between the snake robot and the immediate environment. To simplify the control complexity, compliant motion and fine torque control on each joint is essential. Accordingly, intrinsically elastic joints have become

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Dear, Tony, Blake Buchanan, Rodrigo Abrajan-Guerrero, Scott David Kelly, Matthew Travers, and Howie Choset. "Locomotion of a multi-link non-holonomic snake robot with passive joints." International Journal of Robotics Research 39, no. 5 (2020): 598–616. http://dx.doi.org/10.1177/0278364919898503.

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Conventional approaches in prescribing controls for locomoting robots assume control over all input degrees of freedom (DOFs). Many robots, such as those with non-holonomic constraints, may not require or even allow for direct command over all DOFs. In particular, a snake robot with more than three links with non-holonomic constraints cannot achieve arbitrary configurations in all of its joints while simultaneously locomoting. For such a system, we assume partial command over a subset of the joints, and allow the rest to evolve according to kinematic chained and dynamic models. Different combi

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Li, Shuman, Chao Li, Liyang Xu, Wenjing Yang, and Xucan Chen. "Numerical Simulation and Analysis of Fish-Like Robots Swarm." Applied Sciences 9, no. 8 (2019): 1652. http://dx.doi.org/10.3390/app9081652.

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Artificial fish-like robot is an important branch of underwater robot research. At present, most of fish-like robot research focuses on single robot mechanism behavior, some research pays attention to the influence of the hydro-environment on robot crowds but does not reach a unified conclusion on the efficiency of fish-like robots swarm. In this work, the fish-like robots swarm is studied by numerical simulation. Four different formations, including the tandem, the phalanx, the diamond, and the rectangle are conducted by changing the spacing between fishes. The results show that at close spac

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Yang, Zhiyuan, Sikai Zhao, Nanlin Zhou, et al. "Efficient Locomotion for Space Robots Inspired by the Flying Snake." Aerospace 11, no. 12 (2024): 1025. https://doi.org/10.3390/aerospace11121025.

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Robots are becoming an integral part of space facilities construction and maintenance, and may need to move to and from different work locations. Robotic arms that are widely employed, which are mounted on fixed bases, have difficulty coping with increasingly complex missions. The challenge discussed in this paper is the problem of the efficient locomotion of robotic systems. Inspired by the gliding motion of a flying snake launched from a tree and combined with the weightlessness of the space environment, we design similar motions for the robot, including the following three steps. First, the

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Xue, Fufeng, and Zhimin Fan. "Kinematic control of a cable-driven snake-like manipulator for deep-water based on fuzzy PID controller." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 236, no. 5 (2021): 989–98. http://dx.doi.org/10.1177/09596518211064794.

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The traditional deep-water manipulators have several problems to work in confined spaces, such as large volume, complex structure, and inability. To solve these problems, a novel cable-driven snake-like manipulator robot for deep-water is proposed. In this study, the structure design of the cable-driven snake-like manipulator robot is first introduced. Then, we establish the kinematics model of the proposed cable-driven snake-like manipulator robot, which includes three parts: motor-cable kinematics, cable-joint kinematics, and joint-end kinematics. Especially, a tip-following algorithm (Suppl

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Yeh, Shang-Wei, and Feng-Li Lian. "Modular Design and Simulation Study of Biomimetic Snake Robots." IFAC Proceedings Volumes 41, no. 2 (2008): 15612–17. http://dx.doi.org/10.3182/20080706-5-kr-1001.02640.

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Lv, Yan-hui, Li Li, Ming-hui Wang, and Xian Guo. "Simulation Study on Serpentine Locomotion of Underwater Snake-like Robot." International Journal of Control and Automation 8, no. 1 (2015): 373–84. http://dx.doi.org/10.14257/ijca.2015.8.1.35.

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Nayak, Durga Prasad, and Kali Charan Rath. "ROBOT KINEMATICS ANALYSIS WITH SIMULATION OF MANIPULATOR TRAJECTORY UTILISING THE DH PARAMETER." YMER Digital 21, no. 08 (2022): 273–85. http://dx.doi.org/10.37896/ymer21.08/24.

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Advanced mechanics is the sphere that arrangements with the introduction, usage, and manipulate of robots as well as tangible complaint and facts handling. In the approaching years, those advances will update people and human sporting activities. These robots can be utilized for any undertaking, however they are currently being used in sensitive conditions to identify bombs and cripple exceptional bombs, further to different matters. Mechanical generation is a place of technology and designing that joins mechanical designing, electrical designing, software engineering designing, and other desi

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Omisore, Olatunji Mumini, Shipeng Han, Yousef Al-Handarish, et al. "Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems." Micromachines 11, no. 4 (2020): 386. http://dx.doi.org/10.3390/mi11040386.

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Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics

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Suyama, Shunta, Mizuki Nakajima, and Motoyasu Tanaka. "Active Inclination Modification for Snake Robots in Environments Including a Plane with Varying Inclination Angle." Journal of Robotics and Mechatronics 36, no. 6 (2024): 1438–47. https://doi.org/10.20965/jrm.2024.p1438.

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This study proposes a novel approach for a snake robot traversing an environment composed of two planes, one fixed and the other varying in inclination. Instead of adapting to the environment, the robot propels itself by deliberately changing the environment into a form that facilitates mobility. Assuming that the robot straddles two planes, the inclination of the planes is changed by controlling the motion of the part that straddles them. The proposed method changes the inclination only through movement of the robot, which straddles the planes. Therefore, other body parts can be used in conju

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Prada, Erik, Michael Valášek, and Alexander Gmiterko. "Simulation and Determination of the Influence of the Gait Function on the Change of the Shape of a Snake-Like Robot." Applied Mechanics and Materials 789-790 (September 2015): 636–42. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.636.

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This article discusses the application of the Hirose ́s function for the achievement of the serpentine locomotion of the snake-like robot. Verification of the accuracy of locomotion was performed by simulation in the MATLAB 2012a program. At the beginning of the article, the biological aspects and the principle of the snake’s locomotion are mentioned. In the following chapter, the basic Hirose ́s function, which is subsequently transformed into the discreet shape in the Cartesian coordinates, is described. Moreover, relations for the calculation of rotation angle of the individual segments, wr

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Wang, Ling, Bai Chen, Peng Wang, Sun Chen, Qian Yun Zhu, and Ya Juan Li. "Thrust Force Modeling of the Flagella-Like Swimming Micro-Robot." Applied Mechanics and Materials 461 (November 2013): 930–41. http://dx.doi.org/10.4028/www.scientific.net/amm.461.930.

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In this paper, helix tails with rectangular cross-section were designed for propelling a kind of flagella-like swimming robot. CFD (Computational Fluid Dynamics) software was applied to analyze the major influencing factors of the robots mechanical properties. It is revealed that the thrust reaches the maximum when the helix tails cross-section width is 0.36 times the diameter. Meanwhile, the helix tails should be designed according to the requirements with the largest diameter, close to but less than 45° helix angle and multi-turns under the limitation of the workspace. Combining these simula

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Chen, Gang, Zhenyu Wang, Jiajun Tu, and Donghai Wang. "Dynamic modeling and experiment of hind leg swimming of beaver-like underwater robot." Mechanical Sciences 13, no. 2 (2022): 831–42. http://dx.doi.org/10.5194/ms-13-831-2022.

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Abstract. When the beaver-like underwater robot is swimming, its hind legs provide the main propulsion force for the body, which is the source of power for the robot's movement. Hind leg swimming dynamics is the basis for analyzing the generation and change of propulsion force during the robot swimming process, which directly determines how the robot swimming trajectory is planned. However, there are few researches on the swimming dynamics of the hind leg of a beaver-like underwater robot. This paper proposes a rigid–liquid fusion dynamics modeling method, which simplifies the swimming dynamic

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Xia, Minghai, Qunwei Zhu, Qian Yin, Zhongyue Lu, Yiming Zhu, and Zirong Luo. "Hydrodynamic Simulation and Experiment of a Self-Adaptive Amphibious Robot Driven by Tracks and Bionic Fins." Biomimetics 9, no. 10 (2024): 580. http://dx.doi.org/10.3390/biomimetics9100580.

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Amphibious robots have broad prospects in the fields of industry, defense, and transportation. To improve the propulsion performance and reduce operation complexity, a novel bionic amphibious robot, namely AmphiFinbot-II, is presented in this paper. The swimming and walking components adopt a compound drive mechanism, enabling simultaneous control for the rotation of the track and the wave-like motion of the undulating fin. The robot employs different propulsion methods but utilizes the same operation strategy, eliminating the need for mode switching. The structure and the locomotion principle

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Fang, Shengchang, Guisong Chen, Tong Liu, Weimian Zhou, Yucheng Wang, and Xiaojie Wang. "Role of Tail Dynamics on the Climbing Performance of Gecko-Inspired Robots: A Simulation and Experimental Study." Biomimetics 9, no. 10 (2024): 625. http://dx.doi.org/10.3390/biomimetics9100625.

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Geckos are renowned for their exceptional climbing abilities, enabled by their specialized feet with hairy toes that attach to surfaces using van der Waals forces. Inspired by these capabilities, various gecko-like robots have been developed for high-risk applications, such as search and rescue. While most research has focused on adhesion mechanisms, the gecko’s tail also plays a critical role in maintaining balance and stability. In this study, we systematically explore the impact of tail dynamics on the climbing performance of gecko-inspired robots through both simulation and experimental an

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Nan, Wang, Pang Bo, and Zhou Sha-Sha. "Simulation Study of Snake-like Robot's Serpentine Locomotion Based on Recurdyn." Research Journal of Applied Sciences, Engineering and Technology 7, no. 1 (2014): 37–41. http://dx.doi.org/10.19026/rjaset.7.217.

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Yang, Zhiyong, Cheng Ning, Yuhong Xiong, Fan Wang, Xiaoyan Quan, and Chao Zhang. "Snake Robot Gait Design for Climbing Eccentric Variable-Diameter Obstacles on High-Voltage Power Lines." Actuators 14, no. 4 (2025): 184. https://doi.org/10.3390/act14040184.

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This paper presents a novel gait design for serpentine robots to smoothly wrap around and traverse vibration-damping hammers along overhead power lines. Cubic quasi-uniform B-spline curves are utilized to seamlessly transition between helical segments of varying diameters during obstacle crossing, effectively reducing motion-induced impacts. The design begins by determining the control points of the B-spline curves to ensure posture continuity and prevent collisions with surrounding hardware obstacles, resulting in the derivation of an obstacle-crossing curve equation. Using this equation, the

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Akbarzadeh, Alireza, Jalil Safehian, and Javad Safehian. "A New Approach to Kinematics Modelling of Snake-Robot Concertina Locomotion." Applied Mechanics and Materials 110-116 (October 2011): 2786–93. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.2786.

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In this paper, for the first time, kinematics modelling of snake robot travelling with concertina locomotion is presented. Next a novel kinematics modelling method is presented which has an advantage of allowing natural snake like locomotion. During concertina motion, certain parts of the body contract, expand or do not change their shape. This results into having different body curves for different parts of a snake. To simulate this, first we introduce a mathematical equation, called dynamic function, in which by varying a certain function parameter, body curve during motion is realized. To o

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Niazi, Muaz A. "Emergence of a Snake-Like Structure in Mobile Distributed Agents: An Exploratory Agent-Based Modeling Approach." Scientific World Journal 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/140309.

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The body structure of snakes is composed of numerous natural components thereby making it resilient, flexible, adaptive, and dynamic. In contrast, current computer animations as well as physical implementations of snake-like autonomous structures are typically designed to use either a single or a relatively smaller number of components. As a result, not only these artificial structures are constrained by the dimensions of the constituent components but often also require relatively more computationally intensive algorithms to model and animate. Still, these animations often lack life-like resi

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