In this paper, a biologically inspired control architecture for a snake-like robot is proposed to achieve 3D locomotion and realize continuously free gait transition. Based on a novel central pattern generator(CPG) model, which is achieved from the perspective of network synchronization, the control architecture integrates three functional parts. First, following the convergence behavior of the...

In this work, we investigate the locomotion of a snake-like soft robot in terms its design. Therefore backbone is represented by curve plane which actuated given curvature. By adding anisotropic friction between and surface “moves” on surface. With simple model are able to predict for certain sets parameters. This allows evaluate influence design changes hence facilitate process. As an example,...

This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and anal...

BACKGROUND Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for cl...

Wireless communication is adding improvements in remote controlling techniques of vehicles or mobile robots day by day. From mission based AGVs to biologically inspired robots each area of robotic research is being enriched from time to time with the advent of Wi-Fi technologies like 1G, 2G, and 3G etc. This paper reflects a novel approach to control a mobile ad hoc network built with a number ...

This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic properties of this control and a dynamics of different body segments. It turned out that despite using homogeneous generators, physical constraints have an inh...

Inspired by the snake locomotion, modular snake robots have different locomotion capabilities by coordinating their internal degrees of freedom. They have the potential to access restricted spaces where humans cannot go. They can also traverse rough terrains while conventional wheeled and legged robots cannot. Modular robots have other features including versatility, robustness, low-cost, and f...

This communication presents and justifies ideas related to motion control of snake robots that are currently the subject of ongoing investigations by the authors. In particular, we highlight requirements for intelligent and e cient snake robot locomotion in unstructured environments, and subsequently we present two new design concepts for snake robots that comply with these requirements. The fi...

Magnetically-actuated soft robots have potential for medical application but require further innovation on functionality and biocompatibility. In this letter, a multi-segmented snake-inspired robot with dissolvable biocompatible segments is designed. The actuation response under external magnetic field investigated through simulations experiments. A dissolve-controllable mixture of gelatin, gly...