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Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures
A unified method for designing the motion of a snake robot negotiating complicated pipe structures is presented. Such robots moving inside pipes must deal with various “obstacles,” such as junctions, bends, diameter changes, shears, and blockages. To surmount these obstacles, we propose a method tha...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8126667/ https://www.ncbi.nlm.nih.gov/pubmed/34012981 http://dx.doi.org/10.3389/frobt.2021.629368 |
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author | Inazawa, Mariko Takemori, Tatsuya Tanaka, Motoyasu Matsuno, Fumitoshi |
author_facet | Inazawa, Mariko Takemori, Tatsuya Tanaka, Motoyasu Matsuno, Fumitoshi |
author_sort | Inazawa, Mariko |
collection | PubMed |
description | A unified method for designing the motion of a snake robot negotiating complicated pipe structures is presented. Such robots moving inside pipes must deal with various “obstacles,” such as junctions, bends, diameter changes, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures in a unified way. This method also applies to motion that is necessary to pass between the inside and the outside of a pipe. We designed the target form of the snake robot using two helices connected by an arbitrary shape. This method can be applied to various obstacles by designing a part of the target form specifically for given obstacles. The robot negotiates obstacles under shift control by employing a rolling motion. Considering the slip between the robot and the pipe, the model expands the method to cover cases where two helices have different properties. We demonstrated the effectiveness of the proposed method in various experiments. |
format | Online Article Text |
id | pubmed-8126667 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-81266672021-05-18 Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures Inazawa, Mariko Takemori, Tatsuya Tanaka, Motoyasu Matsuno, Fumitoshi Front Robot AI Robotics and AI A unified method for designing the motion of a snake robot negotiating complicated pipe structures is presented. Such robots moving inside pipes must deal with various “obstacles,” such as junctions, bends, diameter changes, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures in a unified way. This method also applies to motion that is necessary to pass between the inside and the outside of a pipe. We designed the target form of the snake robot using two helices connected by an arbitrary shape. This method can be applied to various obstacles by designing a part of the target form specifically for given obstacles. The robot negotiates obstacles under shift control by employing a rolling motion. Considering the slip between the robot and the pipe, the model expands the method to cover cases where two helices have different properties. We demonstrated the effectiveness of the proposed method in various experiments. Frontiers Media S.A. 2021-05-03 /pmc/articles/PMC8126667/ /pubmed/34012981 http://dx.doi.org/10.3389/frobt.2021.629368 Text en Copyright © 2021 Inazawa, Takemori, Tanaka and Matsuno. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Inazawa, Mariko Takemori, Tatsuya Tanaka, Motoyasu Matsuno, Fumitoshi Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures |
title | Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures |
title_full | Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures |
title_fullStr | Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures |
title_full_unstemmed | Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures |
title_short | Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures |
title_sort | unified approach to the motion design for a snake robot negotiating complicated pipe structures |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8126667/ https://www.ncbi.nlm.nih.gov/pubmed/34012981 http://dx.doi.org/10.3389/frobt.2021.629368 |
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