Development of wheel-less snake robot with two distinct gaits and gait transition capability

Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this...

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Main Authors:	Majid, MHA, Khan, Md. Raisuddin, Sidek, Shahrul Na'im
Format:	Article
Language:	English
Published:	Springer 2013
Subjects:	TA168 Systems engineering
Online Access:	http://irep.iium.edu.my/35735/ http://irep.iium.edu.my/35735/ http://irep.iium.edu.my/35735/ http://irep.iium.edu.my/35735/1/Development%2Bof%2BWheel-less%2BSnake%2BRobot%2Bwith%2BTwo%2BDistinct%2BGaits%2Band%2BGait%2BTransition%2BCapability.pdf

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spelling	iium-357352014-02-19T02:21:01Z http://irep.iium.edu.my/35735/ Development of wheel-less snake robot with two distinct gaits and gait transition capability Majid, MHA Khan, Md. Raisuddin Sidek, Shahrul Na'im TA168 Systems engineering Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted and narrow space environments, respectively, but for straight line locomotion only. A gait transition algorithm is developed to efficiently change the gait from one to another. This study includes the investigation on kinematics analysis followed by dynamics analysis while considering related structural constraints for both gaits. The approach utilizes the speed of the serpentine gait for open area locomotion and exploits the narrow space access capability of the wriggler gait. Hence, it can increase motion flexibility in view of the fact that the robot is able to change its mode of locomotion according to the working environment. Springer 2013-12 Article PeerReviewed application/pdf en http://irep.iium.edu.my/35735/1/Development%2Bof%2BWheel-less%2BSnake%2BRobot%2Bwith%2BTwo%2BDistinct%2BGaits%2Band%2BGait%2BTransition%2BCapability.pdf Majid, MHA and Khan, Md. Raisuddin and Sidek, Shahrul Na'im (2013) Development of wheel-less snake robot with two distinct gaits and gait transition capability. International Journal of Automation and Computing , 10 (6). pp. 534-544. ISSN 1476-8186 http://www.springer.com/engineering/robotics/journal/11633 10.1007/s11633-013-0751-8
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA168 Systems engineering
spellingShingle	TA168 Systems engineering Majid, MHA Khan, Md. Raisuddin Sidek, Shahrul Na'im Development of wheel-less snake robot with two distinct gaits and gait transition capability
description	Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted and narrow space environments, respectively, but for straight line locomotion only. A gait transition algorithm is developed to efficiently change the gait from one to another. This study includes the investigation on kinematics analysis followed by dynamics analysis while considering related structural constraints for both gaits. The approach utilizes the speed of the serpentine gait for open area locomotion and exploits the narrow space access capability of the wriggler gait. Hence, it can increase motion flexibility in view of the fact that the robot is able to change its mode of locomotion according to the working environment.
format	Article
author	Majid, MHA Khan, Md. Raisuddin Sidek, Shahrul Na'im
author_facet	Majid, MHA Khan, Md. Raisuddin Sidek, Shahrul Na'im
author_sort	Majid, MHA
title	Development of wheel-less snake robot with two distinct gaits and gait transition capability
title_short	Development of wheel-less snake robot with two distinct gaits and gait transition capability
title_full	Development of wheel-less snake robot with two distinct gaits and gait transition capability
title_fullStr	Development of wheel-less snake robot with two distinct gaits and gait transition capability
title_full_unstemmed	Development of wheel-less snake robot with two distinct gaits and gait transition capability
title_sort	development of wheel-less snake robot with two distinct gaits and gait transition capability
publisher	Springer
publishDate	2013
url	http://irep.iium.edu.my/35735/ http://irep.iium.edu.my/35735/ http://irep.iium.edu.my/35735/ http://irep.iium.edu.my/35735/1/Development%2Bof%2BWheel-less%2BSnake%2BRobot%2Bwith%2BTwo%2BDistinct%2BGaits%2Band%2BGait%2BTransition%2BCapability.pdf
first_indexed	2023-09-18T20:51:12Z
last_indexed	2023-09-18T20:51:12Z
_version_	1777410006121971712

Development of wheel-less snake robot with two distinct gaits and gait transition capability

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