I n this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, and passive modules such as a control module are chained between the active vehicles. The proposed robot has outstanding mobility oflered ...

In this research proposal we discuss the use of salamander-like robot for search and rescue applications. We present three papers which are relevant to our topic. The first paper [1] discusses robot versatility and gives an overview and comparison of well known robots. The second paper [2] presents an obstacle aided locomotion strategy for a snake robot. The third paper [3] presents an intuitiv...

Ideally, sensory information forms the only source of information to a robot. We consider an algorithm for the self-organization of a controller. At short time scales the controller is merely reactive but the parameter dynamics and the acquisition of knowledge by an internal model lead to seemingly purposeful behavior on longer time scales. As a paradigmatic example, we study the simulation of ...

Inspired by the motion of biological snakes, this paper presents an overview of recent results in modelling and control of snake robots. The objective of the research underlying this paper is to contribute to the mathematical foundation of the control theory of snake robots. To this end, the paper presents two mathematical models of planar snake robot dynamics, which are employed to investigate...

The behavior of a robot is emerged from the interaction between body, control, and environmental dynamics. The research group B–3 aims to design body and control dynamics for emerging adaptive locomotion. We investigate three types of locomotion, biped, quadruped, and snake-like and developed robots. We also discuss on the lower control architecture for realizing reactive adaptive locomotion.

This paper presents the concept of muscle-driven locomotion for planar snake robots, which combines advantages both rigid and soft robotic approaches to enhance performance robot locomotion. For this purpose, two adjacent links are connected by a pair pneumatic artificial muscles wherein an alternate actuation these actuators causes rotational motion at connecting joints. The muscle-based actua...

In this paper we describe the mechanical design, gait and control for a modular hexapod robot which makes it compliant to terrain while climbing slopes up and down. The robot uses a unique electronically actuated 2DOF universal spine similar to the spine of the Snake and the four legged animals like leopard, tiger etc.By controlling the amount of stiffness of the spine we were able to make the ...

This paper presents a global design approach for self-reconfigurable locomotion systems based on evaluation by dynamic simulation and optimization by artificial evolution. The main objective of this approach is to obtain fully integrated robotic solutions in term of morphology (topology and kinematics) and control (architecture and command). To achieve this goal, a modular robotic system is des...