Long-range snake-like robot powered by pneumatic McKibben muscles

• Autorzy: Frącczak Łukasz , Olejniczak Michał , Podsędkowski Leszek

Identyfikatory

DOI

10.24425/ame.2019.128447

• Języki publikacji: EN

Abstrakty

EN

Contemporary research on mobile robotics aims at designing robots that will be able to traverse an extremely varied environment. One of the most universal modes of locomotion is the serpentine movement. A majority of modern snake-like robots use electric drives. This study presents a snake-like robot made out of McKibben muscles. Using a pneumatic cable with muscles arranged in series, it is possible to create a robot of any length, limited only by the length of the muscle cables. Because the control system and the body of the robot are separate, the robot can be used for rescue missions involving high risk of explosion of flammable substances and for missions taking place on extremely difficult terrain.

Słowa kluczowe

EN

snake-like robot; McKibben muscle; pneumatic drive

PL

robot wężo-podobny; mięsień McKibbena; napęd pneumatyczny

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2019
• Tom: Vol. LXVI, nr 2
• Strony: 257--267
• Opis fizyczny: Bibliogr. 14 poz., fot., rys., tab.

Twórcy

autor

Frącczak Łukasz

• Lodz University of Technology, Institute of Machine Tools and Production Engineering, Lodz, Poland

autor

Olejniczak Michał

• Lodz University of Technology, Institute of Machine Tools and Production Engineering, Lodz, Poland

autor

Podsędkowski Leszek

• Lodz University of Technology, Institute of Machine Tools and Production Engineering, Lodz, Poland

Bibliografia

• [1] S. Hirose. Biologically Inspired Robots: Snake-Like Locomotors and Manipulators. Oxford University Press, Oxford, 1993.
• [2] R. S. Desai, C. J. Rosenberg, and J. L. Jones. Kaa: An autonomous serpentine robot utilizes behavior control. In Proceedings of 1995 International Conference on Intelligent Robots and Systems, IROS ’95, pages 250–255, Pittsburgh, USA, 5-9 August 1995, 1995. doi: 10.1109/IROS.1995.525891.
• [3] S. Ma, Y. Ohmameuda, K. Inoue, and B. Li. Control of a 3-dimensional snakelike robot. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2067–2072, Taipei, Taiwan, 14–19 September 2003. doi: 10.1109/ROBOT.2003.1241898.
• [4] S. Ma, Y. Ohmameuda, and K. Inoue. Dynamic analysis of 3-dimensional snake robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 767–772, Sendai, Japan, 28 Sept.–2 Oct. 2004. doi: 10.1109/IROS.2004.1389445.
• [5] Z. Zuo, Z. Wang, B. Li, and S. Ma. Serpentine locomotion of a snake-like robot in water environment. In 2008 IEEE International Conference on Robotics and Biomimetics, pages 25–30, Bangkok, Thailand, 21–26 February, 2009. doi: 10.1109/ROBIO.2009.4912974.
• [6] A. Shapiro, A. Greenfield, and H. Choset. Frictional compliance model development and experiments for snake robot climbing. In Proceedings of IEEE International Conference on Robotics and Automation, pages 574–579, Rome, Italy, 10-14 April 2007. doi: 10.1109/ROBOT.2007.363048.
• [7] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose. Development of amphibious snake-like robot ACM-R5. In: Proceedings of 36th International Symposium on Robotics, Tokyo, Japan, 2005.
• [8] C. Wright, A. Johnson, A. Peck, Z. McCord, A. Naaktgeboren, P. Gianfortoni, M. Gonzalez-Rivero, R. Hatton, and H. Choset. Design of a modular snake robot. In Proceedings of the 2007 IEEE/RSJ International Conference of Intelligent Robots and Systems, pages 2609–2614, San Diego, USA, 29 Oct.-2 Nov. 2007. doi: 10.1109/IROS.2007.4399617.
• [9] P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl. A review on modelling, implementation, and control of snake robots. Robotics and Autonomous Systems, 60(1):29–40, 2012. doi: 10.1016/j.robot.2011.08.010.
• [10] K. Y. Pettersen. Snake robots. Annual Reviews in Control, 44:19–44, 2017. doi: 10.1016/j.arcontrol.2017.09.006.
• [11] J. Gao, X. Gao, W. Zhu, J. Zhu, and B. Wei. Design and research of a new structure rescue snake robot with all body drive system. In Proceedings of 2008 IEEE International Conference Mechatronics and Automation, pages 119–124, Takamatsu, Japan, 5–8 August, 2008. doi: 10.1109/ICMA.2008.4798737.
• [12] G. Granosik, J. Borenstein, and M. G. Hansen. Serpentine Robots for Industrial Inspection and Surveillance. In K.-H. Low (ed.), Industrial Robotics: Programming, Simulation and Applications, Chapter 33, pages 633–662. Pro Literatur Verlag, Germany, ARS, Austria, 2006. doi: 10.5772/4921.
• [13] P. Liljebäck, Ø. Stavdahl, and K. Y. Pettersen. Modular pneumatic snake robot: 3D modelling, implementation and control. IFAC Proceedings Volumes, 38(1):19–24, 2005. doi: 10.3182/20050703-6-CZ-1902.01274.
• [14] K. Koter, L. Fracczak, A. Wojtczak, B. Bryl-Nagorska, A. Mizejewski, and A. Sawicki. Static and dynamic properties investigation of new generation of Transversal Artificial Muscle. In Proceedings of 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), pages 711–716, Miedzyzdroje, Poland, 28–31 August 2017. doi: 10.1109/MMAR.2017.8046915.

Uwagi

EN

This study was co-financed from the scientific funds of the Polish National Research and Development Center as part of Project No. LIDER/20/0106/L7/15/ NCBR/2016.