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...

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Main Authors:	Khan, Md. Raisuddin, Watanabe, M., Shafie, Amir Akramin
Format:	Article
Language:	English
Published:	Science Publications 2010
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/3381/ http://irep.iium.edu.my/3381/ http://irep.iium.edu.my/3381/ 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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spelling	iium-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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
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
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.
format	Article
author	Khan, Md. Raisuddin Watanabe, M. Shafie, Amir Akramin
author_facet	Khan, Md. Raisuddin Watanabe, M. Shafie, Amir Akramin
author_sort	Khan, Md. Raisuddin
title	Kinematics model of snake robot considering snake scale
title_short	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_sort	kinematics model of snake robot considering snake scale
publisher	Science Publications
publishDate	2010
url	http://irep.iium.edu.my/3381/ http://irep.iium.edu.my/3381/ http://irep.iium.edu.my/3381/ 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
first_indexed	2023-09-18T20:11:12Z
last_indexed	2023-09-18T20:11:12Z
_version_	1777407489033109504

Kinematics model of snake robot considering snake scale

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