Implementation of helical wave propagation motion in snake robot moving on exterior of a pipe

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)359-367
Number of pages9
JournalInternational Journal of Advanced Mechatronic Systems
Volume7
Issue number6
DOIs
Publication statusPublished - Jan 1 2017

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Wave propagation
Pipe
Robots
Hyperbolic functions
Torsional stress
Gravitation

Keywords

  • Helical wave propagation motion
  • Hyperbolic function
  • Pipe with branch
  • Snake robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

Cite this

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title = "Implementation of helical wave propagation motion in snake robot moving on exterior of a pipe",
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.",
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author = "Wei Qi and Tetsushi Kamegawa and Akio Gofuku",
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AU - Gofuku, Akio

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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.

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