In this study, we discover some deficiencies of GVF and GGVF Snake such as it can not capture boundaries like “U” and “S” completely because of the counteraction of some external forces and the influence of the local minimum external forces. Based on analyzing force distribution rules of gradient vector flow, a standard is introduced to distinguish every control point is true or false. An addit...

A novel approach to visual servoing is presented, which takes advantage of the structure of the Lie algebra of aane transformations. The aim of this project is to use feedback from a visual sensor to guide a robot arm to a target position. The sensor is placed in the end eeector of the robot, thècamera-in-hand' approach, and thus provides direct feedback of the robot motion relative to the targ...

In this paper, we designed a new detecting system of bridge cables with a snake-shaped robot. It can solve the problems such as inefficiency and danger of aloft work in the bridge detecting by workers. The detecting system of the bridge cables includes: a snake-shaped robot; a multiple and monocular vision detection module; a nondestructive magnetic leakage detecting module; a magnetostrictive ...

Robots that can recover from damage did not exist outside science fiction. Here we describe a self-adaptive snake robot that uses shape memory alloy as muscles and an evolutionary algorithm as a method of adaptive control. Experiments demonstrate that if some of the robot’s muscles are deliberately damaged, evolution is able to find new sequences of muscle activations that compensate, thus enab...

In this paper, we study Fractal Gene Regulatory Networks (FGRNs) evolved as local controllers for a modular robot in snake topology that reacts adaptively to environment. The task is to have the robot moving in a specific direction until it reaches a randomly placed targetzone and stays there. We point to a characteristic of FGRN model, namely “state-switching property” and demonstrate it as a ...