Kinematics model of snake robot considering snake scale
Problem statement: In snake robot research, one of the most efficient forms of locomotion is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel forwa...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Science Publications
2010
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| Online Access: | http://irep.iium.edu.my/3381/1/%2810.3844-ajassp.2010.669.674%29_%28AM_Journal%29_Kinematics_Model_of_Snake_Robot_Considering_Snake_Scale.pdf |
| _version_ | 1796875000676876288 |
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| author | Khan, Md. Raisuddin Watanabe, M. Shafie, Amir Akramin |
| author_facet | Khan, Md. Raisuddin Watanabe, M. Shafie, Amir Akramin |
| author_sort | Khan, Md. Raisuddin |
| collection | IIUM |
| description | Problem statement: In snake robot research, one of the most efficient forms of locomotion
is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited
for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel
forward. Approach: To overcome the inability to adapt to narrow spaces, a novel type of a gait was
introduced in this study. Scales, often overlooked in snake locomotion research, play an important role
in snake movement by increasing backward and lateral friction while minimizing it in forward
direction. In this study a new kinematic structure of a snake robot was proposed that uses scales
underneath the alternate links. Mathematical model of the structure for kinematics analysis was also
presented. Results: Kinematics analysis of the proposed snake model showed that snake motion was
possible with minimum of two actuators. However, higher numbers of actuators help distributed the
driving load and provided a redundant structure for managing accidental failure of any link. Lateral
displacement of the links was found to be less than the width of its body. Conclusion: Thus this
structure as well as the mathematical model was expected to help built snake robots for narrow space
applications like pipe inspection, disaster scenario mapping. |
| first_indexed | 2024-03-05T22:32:30Z |
| format | Article |
| id | oai:generic.eprints.org:3381 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T22:32:30Z |
| publishDate | 2010 |
| publisher | Science Publications |
| record_format | dspace |
| spelling | oai:generic.eprints.org:33812011-09-30T07:37:28Z http://irep.iium.edu.my/3381/ Kinematics model of snake robot considering snake scale Khan, Md. Raisuddin Watanabe, M. Shafie, Amir Akramin TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Problem statement: In snake robot research, one of the most efficient forms of locomotion is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel forward. Approach: To overcome the inability to adapt to narrow spaces, a novel type of a gait was introduced in this study. Scales, often overlooked in snake locomotion research, play an important role in snake movement by increasing backward and lateral friction while minimizing it in forward direction. In this study a new kinematic structure of a snake robot was proposed that uses scales underneath the alternate links. Mathematical model of the structure for kinematics analysis was also presented. Results: Kinematics analysis of the proposed snake model showed that snake motion was possible with minimum of two actuators. However, higher numbers of actuators help distributed the driving load and provided a redundant structure for managing accidental failure of any link. Lateral displacement of the links was found to be less than the width of its body. Conclusion: Thus this structure as well as the mathematical model was expected to help built snake robots for narrow space applications like pipe inspection, disaster scenario mapping. Science Publications 2010 Article PeerReviewed application/pdf en http://irep.iium.edu.my/3381/1/%2810.3844-ajassp.2010.669.674%29_%28AM_Journal%29_Kinematics_Model_of_Snake_Robot_Considering_Snake_Scale.pdf Khan, Md. Raisuddin and Watanabe, M. and Shafie, Amir Akramin (2010) Kinematics model of snake robot considering snake scale. American Journal of Applied Sciences , 7 (5). pp. 669-674. ISSN 1554-3641(O), 1546-9239 (P) http://dx.doi.org/10.3844/ajassp.2010.669.674 doi:10.3844/ajassp.2010.669.674 |
| spellingShingle | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Khan, Md. Raisuddin Watanabe, M. Shafie, Amir Akramin Kinematics model of snake robot considering snake scale |
| title | Kinematics model of snake robot considering snake scale |
| title_full | Kinematics model of snake robot considering snake scale |
| title_fullStr | Kinematics model of snake robot considering snake scale |
| title_full_unstemmed | Kinematics model of snake robot considering snake scale |
| title_short | Kinematics model of snake robot considering snake scale |
| title_sort | kinematics model of snake robot considering snake scale |
| topic | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) |
| url | http://irep.iium.edu.my/3381/1/%2810.3844-ajassp.2010.669.674%29_%28AM_Journal%29_Kinematics_Model_of_Snake_Robot_Considering_Snake_Scale.pdf |
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