In the last paper, we proposed a winding and reaching control technique using a physical index of horizontal constraint force for a 3D snake-like robot. Using a snake like robot called SMA, the validity of the methods was shown experimentally. In this paper control methods in the last paper are summarized and a control method of an active impedance control of vertical joints is proposed for win...

In this paper we present a new gesture based control for snake robot using a custom developed accelerometer based data glove. This Snake robot which was biologically inspired was developed for the purpose of search and rescue and serve as a research platform for its locomotion analysis. The locomotion of Snakes is because a differential curve traveling in its body from the head to the tail and ...

This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the rob...

Unique and interesting gait of the snakes makes them able to crawl, climb a hill, climb a tree by winding and move on very slippery floor. Snake does not have hands and legs, however it has many function. It is useful to consider and understand the mechanism of the gait of the snakes for mechanical design and control law of snake robots. Snake robots is active code mechanism and is usefule for ...

Here in this paper we present a snake robot which can autonomously change its gait depending on the terrain. Also we present the design and construction details for the same. Here a custom simulator for the robot and an API for the same was developed which reduced the design and development time. For controlling the Snake robot manually a data glove using accelerometers was developed. The Snake...

Snake-like robots conventionally use undulation movements for locomotion [1], [2]. In contrast, a nonstandard snake-like robot having four screw-drive units which are connected serially by three active joints [3] uses propulsion by rotating its screw-drive units to move. Employing this screw-drive mechanism, undulation is not required for its locomotion. This helps it to move in narrow spaces. ...

A bstract After getting some experience with our first GMDSnake, we can now present the next generation: GMD-SNAKE2, a robot for inspection tasks in areas difficult to access by humans. Here we tried to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of our robot we concentrate on a method for motion control. It allows a very flexible and co...

This paper discusses the general concept of the Super Mechano-System, or SMS and its anticipated applications. The SMS is a new type of robot system, which can transform its shape and also its internal control system in accordance with the given tasks. Snake robots, running and walking robot with manipulation function, group robots, and unified and reconfigurable robots are the three main examp...