• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.951-956
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• 2005

Since a snake achieves various movements just by a slender body, the mechanism of it is very amazing Many researches have been focusing on a snake like robot and have done for it on the ground. However the meander motion of the snake not only can be done by ground creatures, but also can be done by a water creature such as a sea snake or an eel. Therefore, the purpose of our research is to develop an autonomous underwater robot like the sea snake. As an approach to this goal, we develop an experimental sea snake-like-robot for examining basic characteristics, including propulsion, a turning and other performance. Our developed robot is composed of the head and 4 bodies. Each body equips one servomotor, which is operated with pulse signal. In the head unit, 1- chip-microcomputer, which generates the servomotor control signal for realizing a snake motion and the battery, is equipped. Our robot is covered with a rubber film for the waterproof. Using our developed robot, characteristics of the snake-like-robot moved in water are examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.486-491
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• 2005

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• 한국지능시스템학회논문지
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• 제13권1호
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• pp.70-75
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• 2003

기존 이동로봇의 활발한 연구와 더불어 다양한 형태의 이동로봇이 등장하였다. 이에 본 논문에서는 8축으로 구성된, 총 16 Degree Of Freedom을 가지는 다 관절 뱀 로봇을 제작하였다. 뱀 로봇은 지면과의 진행 마찰력을 고려하여 무동력 바퀴를 사용하였다. 또한 PC Cam과 초음파 센서를 사용하여 각 관절이 움직일 수 있는 Joint Angle을 나타내기 위하여 Target의 색상과 거리를 입력으로 하였다. 뱀 로봇은 머리부분, 몸통 그리고 꼬리부분으로 나뉘어 진행하는 방식을 가지며 PC Cam 을 통해 화면에 보여지는 움직이는 특정 목표물에 대하여 진행을 하며, 진행 중 움직이거나 고정되어있는 Obstacle이 포착될 경우 충돌회피를 통하여 Target을 추종하는 방식을 실험적으로 보이고자 한다.

• 로봇학회논문지
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• 제19권2호
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• 로봇학회논문지
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• 제14권3호
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• pp.196-202
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• 2019

Snake robots are slower than wheeled robots or legged robots, while they have an excellent terrainability in a disastrous area. Considering their advantages and disadvantages, a legged robot whose legs are snake robots, 'Quadnake' was proposed in this research. Five motions of the snake were analyzed. Applying these motions, Quadnake could implement eight kinds of motions which snake robots and quadruped walking robots can implement. As a result of it, Quadnake can have the advantages of both a snake robot and a walking robot. It is expected to move stably in a harsh terrain with snake's motion and move fast with walking.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.947-950
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• 2005

In this paper, we present an approach to control the locomotion of snake robot with concurrent programming model constructed using threads and semaphores. The multi-thread based concurrent programming model adds the flexibility to design and synchronize the movement of snake robots as compared with microcontroller and mechanical based approaches. We have designed a physical snake robot using LEGO sensors and actuator blocks and the wave motion of the snake robot is generated by multi-thread based concurrent programming under RT-Linux. The different robot movements in a desired direction along with different types of snake movements are achieved using angle sensors.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1022-1028
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• 2008

This article presents an omni-tread snake robot that designed to locomote on narrow space and rough terrain. The omni-tread snake robot comprises three segment, which are linked to each other by 2 degrees of freedom joints for the pitch and yaw motion. Moving tracks on all four sides of each segment guarantee propulsion even when the robot rolls over. The 2 DOF joint are actuated by 2 servo motors which produce sufficient torque to lift the one leading or trailing segments up and overcome obstacles. This paper applies articulated steering technique to get omni-tread snake robot's kinematics model.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.189-192
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• 2002

This paper has been studied the movement of snake robot. In this paper we developed a simulator to simulate the creeping locomotion of a snake robot. This Robot makes possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Using the nonslip condition of the wheels, the robot gains propulsion by means of constrained forces on the wheels caused by bending the joints. The results of simulations show that smooth lateral undulatory motion is achived.

• 로봇학회논문지
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• 제8권4호
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• pp.247-255
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• 2013

This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by $90^{\circ}$ with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.