3-D snake robot motion: Nonsmooth modeling, simulations, and experiments

IEEE Transactions on Robotics

Volumn 24, Issue 2, 2008, Pages 361-376

  Transeth, Aksel A ^a   Leine, Remco I ^b   Glocker, Christoph ^b   Pettersen, Kristin Y ^c  

^a SINTEF ICT   (Norway)

^b ETH ZURICH   (Switzerland)

^c NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

3 D snake robot; Kinematics; Nonsmooth dynamics; Time stepping method

Indexed keywords

DYNAMICS; FRICTION; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL;

NONSMOOTH DYNAMICS; SNAKE ROBOT; TIME-STEPPING METHOD;

ROBOTICS;

EID: 42549093609     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.917003     Document Type: Article

References (38)

1. S. Hirose, Biologically Inspired Robots: Snake-Like Locomotors and Manipulators. Oxford, U.K.: Oxford Univ. Press, 1993.
2. S. Hirose and A Morishima, "Design and control of a mobile robot with an articulated body," Int. J. Robot. Res., vol. 9, no. 2, pp. 99-114, 1990.
3. P. Liljebäck, O. Stavdahl, and K. Y. Pettersen, "Modular pneumatic snake robot: 3D modelling, implementation and control," presented at the 16th IFAC World Congr, Prague, Czech Republic, Jul. 2005.
4. M. Mori and S. Hirose, "Three-dimensional serpentine motion and lateral rolling by active cord mechanism ACM-R3," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2002, pp. 829-834.
5. G. Chirikjian and J. Burdick, "Design and experiments with a 30 DOF robot," in Proc. IEEE Int. Conf. Robot. Autom., 1993, vol. 3, pp. 113-119.
6. G. Chirikjian and J. Burdick, "The kinematics of hyper-redundant robot locomotion," IEEE Trans. Robot. Autom., vol. 11, no. 6, pp. 781-793, Den 1995.
7. S. Ma, Y. Ohmaneuda, K. Inoue, and B. Li, "Control of a 3-dimensional snake-like robot," in Proc. IEEE Int. Conf. Robot. Autom., vol. 2, Taipei, Taiwan, Sep. 2003, pp. 2067-2072.
8. J. Burdick, J. Radford, and G. Chinkpan, "A 'sidewinding' locomotion gait for hyper-redundant robots," in Proc. IEEE Int. Conf. Robot. Autom., May, 1993, pp. 101-106.
9. A. A. Transeth and K. Y. Pettersen, "Developments in snake robot modeling and locomotion," in Proc. IEEE Int. Conf. Control, Autom., Robot. Vis., Singapore, Dec. 2006, pp. 1393-1400.
10. S. Ma, N. Tadokoro, B. Li, and K. Inoue, "Analysis of creeping locomotion of snake robot on a slope," in Proc. IEEE Int. Cont: Robot. Autom., Sep., 2003, pp. 2073-2078.
11. K. McIsaac and J. Ostrowski, "Motion planning for anguilliform locomotion," IEEE Trans. Robot. Autom., vol. 19, no. 4, pp. 637-625, Aug. 2003.
12. M. Saito, M. Fukaya, and T. Iwasaki, "Serpentine locomotion with robotic snakes," IEEE Control. Syst. Mag., vol. 22, no. 1, pp. 64-81 . Feb. 2002.
13. S. Ma, "Analysis of creeping locomotion of a snake-like robot," Adv. Robot., vol. 15, no. 2, pp. 205-224, 2001.
14. I. Tanev, T. Ray, and A. Buller, "Automated evolutionary design, robustness, and adaptation of sidewinding locomotion of a simulated snake-like robot," IEEE Trans. Robot., vol. 21, no. 4, pp. 632 645, Aug. 2005.
15. P Lamon, T. Thueer, R. Jordi, and R. Siegwart, "Modeling and optimization of wheeled rovers," presented at the 88th ESAY workshop Adv. Space Technol. Robot., New Orleans, LA. 2004.
16. S. Ma, Y. Ohmameuda, and K. Inoue, "Dynamic analysis of 3-dimensional snake robots," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2004, pp. 767-772.
17. F. Matsuno and H. Sato, "Trajectory tracking control of snake robots based on dynamic model," in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 3029-3034.
18. P. Prautsch, T. Mita, and T. Iwasaki, "Analysis and control of a gait of snake robot," Trans. Inst. Electr. Eng. J. Ind. Appl. Soc., vol. 120-D, pp. 372-381, 2000.
19. B. Brogliato, Nonsmooth Mechanics, 2nd ed. London, U.K.: Springer-Verlag, 1999.
20. R. Smith. (2007, Nov. 15). Open Dynamics Engine v0.5 user guide [Online]. Available: Http://ode.org/ode-latest-userguide.html
21. Ch. Glocker, Set-Valued Force Laws, dynamics of Nonsmoooth Systems (Lecture Notes in Applied Mechanics). vol. 1, Berlin, Germany; Springer-Verlag, 2001.
22. R. I. Leine and H. Nijmeijer, Dynamics and Bifurcations of Non-Smooth Mechanical Systems (Lecture Notes in Applied and Computational Mechanics). vol. 18, Berlin, Germany: Springer-Verlag, 2004.
23. J. J. Moreau, "Unilateral contact and dry friction in finite freedom dynamics," in Non-Smooth Mechanics and Applications (CISM Courses and Lectures), vol. 302, J. J. Moreau and P. D. Panagioiopoulos, Eds., Vienna ed.. Austria: Springer-Verlag, 1988, pp. 1-82.
24. Ch. Glocker and C. Studer, "Formulation and preparation for numerical evaluation of linear complementarity systems in dynamics," Multibody Syst. Dyn., vol. 13, pp. 447-463, 2005.
25. A. A. Transeth, R. I. Leine, Christoph Glocker, and K. Y. Pettersen, "Non-smooth 3D modeling of a snake robot with frictional unilateral constraints," in Proc. IEEE Int. Conf. Robot. Biomimetics, Kunming, China, Dec. 2006, pp. 1181-1188.
26. O. Egeland and J.T. Gravdahl, Modeling and Simulation for Automatic Control. Trondheim, Norway: Marine Cybernetics, 2002.
27. C. Le Saux, R. I. Leine, and Ch. Glocker, "Dynamics of a rolling disk in the presence of dry friction," J. Nonlinear Sci., vol. 15, no. 1, pp. 27-61, 2005.
28. R. T. Rockafellar, Convex Analysis (Princeton Landmarks in Mathematics). Princeton, NJ: Princeton Univ. Press, 1970.
29. A. A. Transeth, R. I. Leine, Ch. Glocker, and K. Y. Pettersen, "Non-smooth 3D modehng of a snake robot with external obstacles," in Proc. IEEE Int. Conf. Robot. Biomimetics, Kunminga, China, Dec. 2006, pp. 1189-1196.
30. J. Gray, "The mechanism of locomotion in snakes," J. Exp. Biol., vol. 23, no. 2, pp. 101-120, 1946.
31. P. Alart and A. Curnier, "A mixed formulation for frictional contact problems prone to Newton like solution methods," Comput. Methods Appl. Mech. Eng., vol. 92, pp. 353-375, 1991.
32. J. Ostrowski and J. Burdick, "Gait kinematics for a serpentine Proc. IEEE Int. Conf. Robot. Autom., Apr., 1996, vol. 2, pp. 1294-1299.
33. P. Wiriyacharoensunthom and S. Laowattana, "Analysis and design of a multi-link mobile robot (serpentine)," in Proc. IEEE Int. Conf. Robot., Int. Syst. Signal Process., Dec., 2002, vol. 2. pp. 694-699.
34. C. Ye, S. Ma, B. Li, and Y. Wang, "Turning and side motion of snake-like robot," in Proc. IEEE Int. Conf. Robot. Autom., 2004, vol. 5, pp. 5075-5080.
35. Z. Y. Bayraktaroglu, A. Kilicarslan, A. Kuzucu, V. Hugel, and P. Blazevic, "Design and control of biologically inspired wheel-less snake-like robot," in Proc. IEEE/RAS-EMBS Int. Conf. Biomed. Robot. Biomechatron., Feb., 2006, pp. 1001-1006.
36. A.A. Transeth, R. I. Leine, C. Glockei, K. Y. Pettersen, and P. Liljebäck, "Snake robot obstacle aided locomotion: Modeling, simulations, and experiments," IEEE Trans. Robot., vol. 24, no. 1, pp. 88-104, Feb. 2008.
37. O. Egeland, Servo Engineering (in Norwegian). Trondheim, Norway: Tapir, 1993.
38. M. Nilsson, "Serpentine locomotion on surfaces with uniform friction," in Proc. IEEE/RSJ Int. Conf. Intell. Robot., Syst., 2004, pp. 1751-1755.