NDLI: Locomotive reduction for snake robots

Content Provider	IEEE Xplore Digital Library
Author	Xuesu Xiao Cappo, E. Weikun Zhen Jin Dai Ke Sun Chaohui Gong Travers, M.J. Choset, H.
Copyright Year	2015
Description	Author affiliation: Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Xuesu Xiao; Cappo, E.; Weikun Zhen; Jin Dai; Ke Sun; Chaohui Gong; Travers, M.J.; Choset, H.)
Abstract	Limbless locomotion, evidenced by both biological and robotic snakes, capitalizes on these systems' redundant degrees of freedom to negotiate complicated environments. While the versatility of locomotion methods provided by a snake-like form is of great advantage, the difficulties in both representing the high dimensional workspace configuration and implementing the desired translations and orientations makes difficult further development of autonomous behaviors for snake robots. Based on a previously defined average body frame and set of motion primitives, this work proposes locomotive reduction, a simplifying methodology which reduces the complexity of controlling a redundant snake robot to that of navigating a differential-drive vehicle. We verify this technique by controlling a 16-DOF snake robot using locomotive reduction combined with a visual tracking system. The simplicity resulting from the proposed locomotive reduction method allows users to apply established autonomous navigation techniques previously developed for differential-drive cars to snake robots. Best of all, locomotive reduction preserves the advantages of a snake robot's ability to perform a variety of locomotion modes when facing complicated mobility challenges.
Starting Page	3735
Ending Page	3740
File Size	1698447
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139718
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Joints Navigation Mobile robots Cameras Robot vision systems
Content Type	Text
Resource Type	Article

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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
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