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,...

In this paper we describe a methodology for obtaining modular artificial neural network based control architectures for snake-like robots automatically. This approach is based on the use of behavior modulation structures that are incrementally evolved using macroevolutionary algorithms. The method is suited for problems that can be solved through a progressive increase of the complexity of the ...

In this work we propose an approach for incorporating learning probabilistic context-sensitive grammar (LPCSG) in genetic programming (GP), employed for evolution and adaptation of locomotion gaits of a simulated snake-like robot (Snakebot). Our approach is derived from the original context-free grammar which usually expresses the syntax of genetic programs in canonical GP. Empirically obtained...

A Serpentine Robot Designed for Efficient Rectilinear Motion Richard Anthony Primerano Moshe Kam and William Regli Robots that mimic the natural motions of animals have long been of interest in science and engineering. The primary engineering interest in such robots is in having them conduct tasks that require complicated locomotion and cognition. The biological creatures after which the human-...

A modular soft actuator with snakeskin-inspired scales that generates an anisotropic friction force is designed and evaluated in this study. The makes it possible to fabricate robots can move on various surfaces the natural environment. For existing modulus robots, additional connectors several independent pneumatic pumps are required. However, we precise connection snake-scale structures integ...

Snakes can utilize obstacles to move through complex terrain, but the development of robots with similar capabilities is hindered by our understanding of how snakes manage the forces arising from interactions with heterogeneities. To discover principles of how and when to use potential obstacles, we studied a desert-dwelling snake, C. occipitalis, which uses a serpenoid template to move on homo...

Self-transforming robot is a robot which transforms its shape according to the hindrance occurring in the path where the robots are being moved. Such robots have been recognized as very attractive design in exhibiting the reliable transformation according to the situations. Military and defense application needs a robot should possess arbitrary movements like human. In some scenarios transforma...

Snake robots are highly articulated mechanisms that can perform a variety of motions that conventional robots cannot. Despite many demonstrated successes of snake robots, these mechanisms have not been able to achieve the agility displayed by their biological counterparts. We suggest that studying how biological snakes coordinate whole-body motion to achieve agile behaviors can help improve the...

Intuitively representing the motion of a snake robot is difficult. This is in part because the internal shape changes that the robot uses to locomote involve the entire body and no single point on the robot intuitively represents the robot’s pose at all times. To address this issue, we present a method of defining body coordinate frames that departs from the typical convention of rigidly fixing...

Biological snakes’ diverse locomotion modes and physiology make them supremely adapted for environment. When their unique movements are broadly classified, the following four gliding modes exist: 1) Serpentine locomotion; 2) Rectilinear locomotion; 3) Concertina locomotion; 4) Side winding locomotion. However, the serpentine locomotion is the movement seen typically in almost all kinds of snake...