NDLI: Sidewinding on slopes

Content Provider	IEEE Xplore Digital Library
Author	Hatton, R.L. Choset, H.
Copyright Year	2010
Description	Author affiliation: Carnegie Mellon Univ., USA (Hatton, R.L.; Choset, H.)
Abstract	Sidewinding is an efficient translation gait used by snakes over flat ground. When implemented on snake robots, it retains its general effectiveness, but becomes unstable on sloped surfaces. Flattening the sidewinding motion along the surface to provide a more stable base corrects for this instability, but degrades other performance characteristics, such as efficiency and handling of rough terrain. In this paper, we identify stability conditions for a sidewinder on a slope and find a solution for the minimum aspect ratio of the sidewinding pattern needed to maintain stability. Our theoretical results are supported by experiments on snake robots. In constructing our stability analysis, we present a new, tread-based model for sidewinding that is both consistent with previous models and provides new intuition regarding the kinematics of the gait. This new interpretation of sidewinding further admits a symmetry-based model reduction that simplifies its analysis. Additionally, an intermediate stage of the theoretical work contains a comprehensive analysis of the behavior of an ellipse in rolling contact with a sloped surface.
Starting Page	691
Ending Page	696
File Size	2635950
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509875
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Spine Robustness Robotics and automation Rough surfaces Surface roughness Stability analysis Kinematics Robust stability Surface morphology
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Optimizing coordinate choice for locomoting systems

Kinematic reconfigurability of mobile robots on irregular terrains

Gecko-inspired climbing behaviors on vertical and overhanging surfaces

Waalbot: Agile climbing with synthetic fibrillar dry adhesives

Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space

A distributed strategy for gait adaptation in modular robots

Gecko inspired micro-fibrillar adhesives for wall climbing robots on micro/nanoscale rough surfaces

Tankbot: A miniature, peeling based climber on rough and smooth surfaces

Smart manipulator actuated by Ultra-Sonic Motors for lunar exploration

Sidewinding on slopes

Similar Documents

Optimizing coordinate choice for locomoting systems

Kinematic reconfigurability of mobile robots on irregular terrains

Gecko-inspired climbing behaviors on vertical and overhanging surfaces

Waalbot: Agile climbing with synthetic fibrillar dry adhesives

Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space

A distributed strategy for gait adaptation in modular robots

Gecko inspired micro-fibrillar adhesives for wall climbing robots on micro/nanoscale rough surfaces

Tankbot: A miniature, peeling based climber on rough and smooth surfaces

Smart manipulator actuated by Ultra-Sonic Motors for lunar exploration

Sidewinding on slopes