in this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using b-spline curves. the trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. due to gait design considerations it is desired to minimize the required torques in a cycle of gait. similar to caterpillars,...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

Nature is a storehouse of great ideas, which are mostly so well planned, that engineers can apply them directly via examining, understanding and imitating the natural working principles. Snakes and worms can be found in almost every region of our planet. Their success is mainly based on the simple construction of their body and their robust locomotion technique. Snakes and worms move their body...

In this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using B-spline curves. The trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. Due to gait design considerations it is desired to minimize the required torques in a cycle of gait. Similar to caterpillars,...

A 59-years-old woman with the past history of uterine myoma post hysterectomy presented complaint lower abdominal pain for 3 months. The was vague and intermittent no aggravating or alleviating factors. scale about out 10. She denied neither bloody stools nor changes in bowel habits. Physical examination unremarkable. Subsequent colonoscopy showed an elongated “worm-like” polyp overlying normal...

The kinematical accuracy of robot is very important. It is induced by the rigidity of each mechanism of the robot. The paper presents a numerical method to evaluate the rigidity of worm-gearing teeth. The software, including setting-up and graphic display, could be adopted of any kind of cylindrical worm-gear drive or for spur gear drives and bevel gear drives, mechanisms which are in the robot...

In this paper, a worm-like micro robot designed for inpipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportionalinte...