Abstract
In this study, we developed a snake robot that goes through a branch point on exterior of a pipe in a helical shape. A hyperbolic function is utilised to generate a wave along the helical curve. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve by using the formula of the continuous curve model. We implemented the new motion in a real snake robot by considering parameters of the curve. In addition, we propose a method to compensate for the effect of gravity to achieve the motion by a real snake robot. Experimental results are shown to validate the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 359-367 |
| Number of pages | 9 |
| Journal | International Journal of Advanced Mechatronic Systems |
| Volume | 7 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - Jan 1 2017 |
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Keywords
- Helical wave propagation motion
- Hyperbolic function
- Pipe with branch
- Snake robot
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering
Cite this
Implementation of helical wave propagation motion in snake robot moving on exterior of a pipe. / Qi, Wei; Kamegawa, Tetsushi; Gofuku, Akio.
In: International Journal of Advanced Mechatronic Systems, Vol. 7, No. 6, 01.01.2017, p. 359-367.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Implementation of helical wave propagation motion in snake robot moving on exterior of a pipe
AU - Qi, Wei
AU - Kamegawa, Tetsushi
AU - Gofuku, Akio
PY - 2017/1/1
Y1 - 2017/1/1
N2 - In this study, we developed a snake robot that goes through a branch point on exterior of a pipe in a helical shape. A hyperbolic function is utilised to generate a wave along the helical curve. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve by using the formula of the continuous curve model. We implemented the new motion in a real snake robot by considering parameters of the curve. In addition, we propose a method to compensate for the effect of gravity to achieve the motion by a real snake robot. Experimental results are shown to validate the effectiveness of the proposed method.
AB - In this study, we developed a snake robot that goes through a branch point on exterior of a pipe in a helical shape. A hyperbolic function is utilised to generate a wave along the helical curve. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve by using the formula of the continuous curve model. We implemented the new motion in a real snake robot by considering parameters of the curve. In addition, we propose a method to compensate for the effect of gravity to achieve the motion by a real snake robot. Experimental results are shown to validate the effectiveness of the proposed method.
KW - Helical wave propagation motion
KW - Hyperbolic function
KW - Pipe with branch
KW - Snake robot
UR - http://www.scopus.com/inward/record.url?scp=85064974157&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85064974157&partnerID=8YFLogxK
U2 - 10.1504/IJAMECHS.2017.099314
DO - 10.1504/IJAMECHS.2017.099314
M3 - Article
VL - 7
SP - 359
EP - 367
JO - International Journal of Advanced Mechatronic Systems
JF - International Journal of Advanced Mechatronic Systems
SN - 1756-8412
IS - 6
ER -