Passive joint control of a snake robot by rolling motion
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ORIGINAL ARTICLE
Passive joint control of a snake robot by rolling motion Ryo Ariizumi1 · Kentaro Koshio2 · Motoyasu Tanaka3 · Fumitoshi Matsuno2 Received: 31 January 2020 / Accepted: 14 September 2020 / Published online: 10 October 2020 © International Society of Artificial Life and Robotics (ISAROB) 2020
Abstract Snake robots are capable of adapting to difficult situations, such as cluttered environments, using its many degrees of freedom. However, if one of the joints gets passive, it is generally very difficult to achieve ordinary performance. In this paper, control of a passive joint using rolling motion is considered, with the use of crawler gait in mind. Crawler gait is a state-of-the-art motion pattern for snake robots that is capable of moving on uneven terrain, but if there is a passive joint, the motion can be interrupted by freely moving part of the robot itself. As a key to solving this difficulty, this paper proposes to use the rolling motion, which has not been used in controlling a passive joint. A simplified model is proposed to consider the control, and based on this, one simple controller is adopted. The validity of the idea of using rolling motion is tested by numerical simulations. Keywords Actuator malfunction · Snake robot · Passive joint
1 Introduction Snake robots, which are composed of many serially connected actuators, are expected to be useful in a variety of difficult situations. They can move inside a pipe [1], can climb stairs or a ladder [2, 3], and can run over uneven terrain [3–6], using its many degrees of freedom (DOFs). With this rich ability to negotiate with difficult environments, This work was presented in part at the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (Okinawa, Japan, November 20–22, 2019) This work was supported by the ImPACT Program of the Council for Science, Technology and Innovation (Cabinet Office, Government of Japan) * Ryo Ariizumi [email protected]‑u.ac.jp 1
Department of Mechanical Systems Engineering, Graduate School of Engineering, Nagoya University, Nagoya 464‑8603, Japan
2
Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto 606‑8501, Japan
3
Department of Mechanical and Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communications, Tokyo 182‑8585, Japan
researchers and practitioners are now believe that a snake robot can be used in many tasks such as pipe inspection, urban search and rescue, and reconnaissance tasks. Therefore, many studies have been performed to design new snake robots, analyze its movements, and propose useful motions. Another merit of having many DOFs, along with the ability to move in many different environments, is that the robot can be robust to actuator failures. However, there are only a few research on this point. When considering a planar snake robot and if lateral constraints are assumed, which is an often-used assumption for a planar snake robot, the ex
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