ICRA
2009
IEEE
13 years 10 months ago
2009
IEEE
Mapping opaque and confined environments such as caves and pipes is a challenging problem for mobile robots because sensor information is severely limited to the immediate proximit...
TROB
2008
14 years 19 days ago
2008
Snakes utilize irregularities in the terrain, such as rocks and vegetation, for faster and more efficient locomotion. This motivates the development of snake robots that actively u...
TROB
2008
14 years 19 days ago
2008
A nonsmooth (hybrid) 3-D mathematical model of a snake robot (without wheels) is developed and experimentally validated in this paper. The model is based on the framework of nonsmo...
ROBIO
2006
IEEE
14 years 6 months ago
2006
IEEE
Abstract— In this paper we extend a non-smooth 3D mathematical model of a snake robot to also include external obstacles to enable obstacle aided locomotion. The model is based o...
ICARCV
2006
IEEE
14 years 6 months ago
2006
IEEE
— Snake robots may one day play a crucial role in search and rescue operations and fire-fighting where it may either be too narrow or to dangerous for personnel to operate. Pro...
IROS
2007
IEEE
14 years 7 months ago
2007
IEEE
—This paper describes a series of gaits which we developed for a free crawling snake robot. Snake robots, a class of hyper-redundant mechanisms, can use their many degrees of fre...
IROS
2007
IEEE
14 years 7 months ago
2007
IEEE
— This paper considers the problem of model based control of the joints of a snake robot without wheels. The potential range of applications for snake robots are numerous, and de...
ICRA
2007
IEEE
14 years 7 months ago
2007
IEEE
Abstract— Intelligently utilizing the frictional contact between a robot and its environment can prevent slip, maintain balance, and provide stability during a robot’s motion. ...