A Muscle-Driven Mechanism for Locomotion of Snake-Robots

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities

In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-drive...

Locomotion Efficiency Optimization of Biologically Inspired Snake Robots

Eleni Kelasidi 1,* ID , Mansoureh Jesmani 2, Kristin Y. Pettersen 1 and Jan Tommy Gravdahl 2 1 Centre for Autonomous Marine Operations and Systems, Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway; [email protected] 2 Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway; [email protected] (M.J.); [email protected] (J.T.G.)...

Efficient Locomotion on Non-wheeled Snake-like Robots

This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and anal...

Towards Muscle Driven Bipedal Locomotion

Task-space Control of Electrically Driven Robots

Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...