<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. For the straight pipe locomotion was designed traveling wave locomotion pattern with sine-like wave which expands from rear of the robot to its front. For the locomotion in curved pipe was designed approach which is based on inverse kinematic model including besides primary task also secondary tasks, namely kinematic singularities avoidance task, obstacle avoidance task and joint limit avoidance task. For final inverse kinematic model was used approach of weight matrices by which can be stated the priorities of particular tasks. Both case studies were tested by experimental snake robot in order to verify introduced methodology for locomotion in the straight and curved pipe.</p></abstract>

In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. For the straight pipe locomotion was designed traveling wave locomotion pattern with sine-like wave which expands from rear of the robot to its front. For the locomotion in curved pipe was designed approach which is based on inverse kinematic model including besides primary task also secondary tasks, namely kinematic singularities avoidance task, obstacle avoidance task and joint limit avoidance task. For final inverse kinematic model was used approach of weight matrices by which can be stated the priorities of particular tasks. Both case studies were tested by experimental snake robot in order to verify introduced methodology for locomotion in the straight and curved pipe.

Snake Robot Locomotion Patterns for Straight and Curved Pipe

Faculty of Mechanical Engineering, Department of Mechatronics

Strojnícky časopis - Journal of Mechanical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Snake Robot Locomotion Patterns for Straight and Curved Pipe"}

In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. For the straight pipe locomotion was designed...

Snake Robot Locomotion Patterns for Straight and Curved Pipe

Published Online: May 19, 2018

Page range: 91 - 104

DOI: https://doi.org/10.2478/scjme-2018-0020

Keywords
inverse kinematic model, path planning, potential field method, snake robot, weight matrix

© 2018 Virgala Ivan et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Snake Robot Locomotion Patterns for Straight and Curved Pipe

Published Online: May 19, 2018

Page range: 91 - 104

DOI: https://doi.org/10.2478/scjme-2018-0020

Keywordsinverse kinematic model, path planning, potential field method, snake robot, weight matrix

© 2018 Virgala Ivan et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
inverse kinematic model, path planning, potential field method, snake robot, weight matrix