An Behavior-based Robotics
Neurotechnology for Biomimetic Robots
Neurotechnology for Biomimetic Robots
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Visual orientation and motion control of MAKRO: adaptation to the sewer environment
ICSAB Proceedings of the seventh international conference on simulation of adaptive behavior on From animals to animats
Construction and operation of a snake-like robot
IJSIS '96 Proceedings of the 1996 IEEE International Joint Symposia on Intelligence and Systems
Evolving Self-Organizing Behaviors for a Swarm-Bot
Autonomous Robots
Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,
Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables,
Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates
IEEE Transactions on Robotics
Visual homing for undulatory robotic locomotion
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Undulatory and pedundulatory robotic locomotion via direct and retrograde body waves
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Generating gaits for snake robots by annealed chain fitting and keyframe wave extraction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Information Sciences: an International Journal
Data mining approaches for intelligent E-Social care decision support system
ICAISC'10 Proceedings of the 10th international conference on Artificial intelligence and soft computing: Part I
International Journal of Robotics Research
A review on modelling, implementation, and control of snake robots
Robotics and Autonomous Systems
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Substantial work exists in the robotics literature on the mechanical design, modeling, gait generation and implementation of undulatory robotic prototypes. However, there appears to have been relatively limited work on closing the control loop for such robotic locomotors using sensory information from on-board exteroceptive sensors, in order to realize more complex undulatory behaviors. In this paper we consider a biologically inspired sensor-based “centering” behavior for undulatory robots traversing corridor-like environments. Such behaviors have been observed and studied in bees, and robotic analogs were originally developed for non-holonomic mobile robots. Adaptation to the significantly more complex dynamics of undulatory locomotors highlights a number of issues related to the use of sensors (possibly distributed over the elongated body of the mechanism) for the generation of reactive undulatory behaviors and also related to biomimetic neuromuscular control and to the formation control of multi-undulatory swarms. These issues are explored in simulation by means of computational tools specifically geared towards undulatory locomotion in robotics and biology. Moreover, a series of undulatory robotic prototypes has been developed, which are able to propel themselves on a variety of hard and granular substrates, by means of both head-to-tail (“eel-like”) and tail-to-head (“polychaete-like”) undulatory waves. The undulatory centering behavior is demonstrated experimentally in several layouts of corridor-like environments using these robotic prototypes equipped with infrared distance sensors.