Snake-like robots have been widely studied due to their special 3D locomotion ability and the adaptability in diverse complex environments. Autonomous locomotion, that is, acquiring environment information, making locomotion decisions independently and then performing locomotion, is of the essence for snake-like robots to complete self-governed tasks in various complex terrain. The traditional ...

The Japanese government is establishing an International Rescue Complex to promote research and development of key technologies for realization of practical search-and-rescue robots, anticipating for future large-scale earthquakes and other catastrophic disasters. This paper proposes a new paradigm called “snakes and strings”, for developing practical mobile robot systems that may be useful in ...

Title of Document: DESIGN AND ANALYSIS OF EXAGGERATED RECTILINEAR GAIT-BASED SNAKE-INSPIRED ROBOTS James Kendrick Hopkins Doctor of Philosophy, 2014 Dissertation directed by: Professor S. K. Gupta Department of Mechanical Engineering Snake-inspired locomotion is much more maneuverable compared to conventional locomotion concepts and it enables a robot to navigate through rough terrain. A rectil...

 The BIGSS lab is developing a minimally-invasive surgical workstation to treat the osteolytic lesions using using a snake like dexterous manipulator (SDM).  The SDM will be positioned in the workspace by a robotic arm.  The focus of this project is integrating the SDM with the robotic armwhich is a 6 DOF Universal Robot (UR5) and position control of the tip of the SDM inside the lesion area.

In recent years, snake-inspired locomotion has garnered increasing interest in the bio-inspired robotics community. This positive trend is largely due to the unique and highly effective gaits utilized by snakes to traverse various terrains and obstacles. These gaits make use of a snake’s hyper-redundant body structure to adapt to the terrain and maneuver through tight spaces. Snakeinspired robo...

This article presents AmphiBot II, an amphibious snake robot designed for both serpentine locomotion (crawling) and swimming. It is controlled by an on-board central pattern generator (CPG) inspired by those found in vertebrates. The CPG is modelled as a chain of coupled nonlinear oscillators, and is designed to produce travelling waves. Its parameters can be modified on the fly. We present the...

This paper reports our efforts to develop an integrated system for telesurgery of the throat and upper airway. The system is described while focusing on the novel design of its slave robot. The slave robot is a 3-armed robot that implements novel Distal Dexterity Units (DDU’s). These DDU’s are dexterous robots for surgical tool manipulation and suturing in confined spaces. Each DDU is composed ...

This paper describes a custom Low Power Motor Controller (LoPoMoCo) that was developed for a 34-axis robot system currently being designed for Minimally Invasive Surgery (MIS) of the upper airways. The robot system will includes three robot arms equipped with small snake-like mechanisms, which challenge the controller design due to their requirement for precise sensing and control of low motor ...

The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the Cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot Cube-M with one degree of freedom, an improved version of the Y1 ...