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Analysis of stairs-climbing ability for a tracked reconfigurable modular robot

The stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing, and robot's mobility has been analyzed for its kinematics and dynamics factor.
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Adaptive controller design for underwater snake robot with unmatched uncertainties

An adaptive control schemes based on dynamic model for a planar, underwater snake-like robot with model error and time-varying noise to achieve the adaptive control of joint angles tracking and the direction of locomotion control is proposed.
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Design and modelling of a snake robot in traveling wave locomotion

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An amphibious snake-like robot: Design and motion experiments on ground and in water

This paper presents an amphibious snake-like robot's design and its omnipotent locomotion ability both on the land and in the water. This amphibious snake-like robot, mainly composed by 9 Modular…
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An amphibious snake-like robot with novel gaits on ground and in water

Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism…
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Influence of inclining angle of a slope to optimal locomotion curves of a snake-like robot

A 2-dimensional snake-like robot is developed that emulates a snakes' function and derived its optimal creeping locomotion curves that adapted to the given slopes.
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Passive creeping of a snake-like robot

This paper presents a novel method, called passive creeping, to control the serpentine locomotion of the snake-like robot, which can adapt to the environments with different friction coefficients according to the dynamic state not the environment information.
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Analysis of creeping locomotion of a snake robot on a slope

A snake-like robot is developed that has no any forward direction driving force and the environment-adaptable body shape for the creeping locomotion of the snake- like robot on slope is derived through a computer simulator.
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Development of a 3D Snake-like Robot: Perambulator-II

Snake-like robots exhibited more advantages than conventional mobile robots on environment adaptation. They almost can move in most ill conditions including rough terrain, desert, water, cave and…
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Turning and side motion of snake-like robot

An amplitude modulation method and a phase modulation method based on analysis of the serpenoid curve are proposed to let the snakelike robot perform turning motion and compensate offset and orientation errors of the robot.
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