Abstract
In this paper, a framework for analyzing the motion resulting from the interaction between a snake robot and an object is shown. Metrics are derived to study the motion of the object and robot, showing that the addition of passive wheels to the snake robot helps to minimize slippage. However, the passive wheels do not have a significant impact on the force exerted onto the object. This puts snake robots in a similar framework as robotic arms, while considering special properties exclusive to snake robots (e.g., lack of a fixed-base, interaction with the environment through friction). It is also shown that the configuration (shape) of the snake robot, parameterized with the polar coordinates of the robot’s COM, plays an important role in the interaction with the object. Two examples, a snake robot with two joints and another with three joints, are studied to show the applicability of the model.
Highlights
Robots that are capable of locomotion in unstructured conditions are necessary for realistic applications
Scenario 1: The snake robot is in contact with an object but unconstrained in any other way
It can be seen that in scenario 1 there is a clear trend for configurations with the COM of the snake robot at angles 90◦ and − 90◦ to have a higher impact on the wrench applied to the object
Summary
Robots that are capable of locomotion in unstructured conditions are necessary for realistic applications. Locomotion alone may not be sufficient when more dexterous interaction with the environment is needed. Robotic systems with capability to locomote and interact dexterously with their surroundings are desirable, and a natural extension of robotics research. Snake robots have shown promise regarding locomotion [1]. Locomotion in planar environments has been probably the main topic of research for snake robots [2,3,4] and has been extended to motion in planar slopes [5, 6], motion in 3D-space [7, 8], and more broad studies on locomotion [9]. An interesting idea that combines locomotion and interaction with the environment, called obstacle-aided locomotion (OAL), has been proposed in [10] where obstacles in the environment are used as auxiliary sources for propulsion or to avoid jamming
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
