Design and control of a mobil robot with an articulated body
International Journal of Robotics Research
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Limbless locomotion: learning to crawl with a snake robot
Limbless locomotion: learning to crawl with a snake robot
IEEE Transactions on Robotics
A bio-inspired approach for online trajectory generation of industrial robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
New automated learning CPG for rhythmic patterns
Intelligent Service Robotics
Development of a new spinning gait for a planar snake robot using central pattern generators
Intelligent Service Robotics
Development of wheel-less snake robot with two distinct gaits and gait transition capability
International Journal of Automation and Computing
Hi-index | 0.00 |
In this paper, we present a novel gait, forward head serpentine (FHS), for a two dimensional snake robot. The advantage of this new gait is that the head link remains in the forward direction during motion. This feature significantly improves snake robot potential applications. Genetic Algorithm (GA) is used to find FHS gait parameters. Relationship between FHS gait parameters and friction coefficients of the ground are developed. Next, robot speed is considered in the optimization. A fitness function covering robot speed and head link angular changes is defined. A general sinusoidal wave form is applied for each joint. GA is used to find gait parameters resulting in maximum speed while head link angular changes remain in an acceptable range. Optimal gait parameters are also calculated for different friction coefficients and relationships between them are developed. Experiments are also performed using a 5-link snake robot. It is shown that experimental and theoretical results closely agree.