Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, example, pipes. This article deals with snake robot moving pipe using so-called trapezium-like travelling wave. In this paper, we present mathematical model locomotion the rectangular cross-section. Subsequently, designed control algorithm Within introduced mot...

This paper shows how to effectively compute collisionfree and dynamically-feasible robot motion trajectories that satisfy task specifications given by Linear Temporal Logic (LTL). The proposed approach combines sampling-based motion planning over the continuous state space with discrete search over both the LTL task representation and a workspace decomposition. In distinction from related work,...

Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman – Yakubovich – Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and cont...

The International Rescue System Institute has been established in Japan to promote research and development of key technologies for the realization of practical search-and-rescue robots, anticipating future large-scale earthquakes and other catastrophic disasters. In this paper we propose a new paradigm called “snakes and strings”, for developing practical mobile robot systems that may be usefu...