Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments

Mohammadali Javaheri Koopaee; Christopher Pretty; Koen Classens; Xiao Qi Chen

doi:10.1115/DETC2019-97227

Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments

Mohammadali Javaheri Koopaee, Christopher Pretty, Koen Classens, Xiao Qi Chen

Control Systems Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

123 Downloads (Pure)

Abstract

This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment

Original language	English
Title of host publication	15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Place of Publication	Anaheim, California, USA
Publisher	American Society of Mechanical Engineers
Number of pages	9
Volume	9
ISBN (Electronic)	9780791859292
DOIs	https://doi.org/10.1115/DETC2019-97227
Publication status	Published - 25 Nov 2019
Event	ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States Duration: 18 Aug 2019 → 21 Aug 2019

Conference

Conference	ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Country/Territory	United States
City	Anaheim
Period	18/08/19 → 21/08/19

Keywords

Adaptive locomotion
Bio inspired snake robots
Equations of motion
Pedal wave locomotion
Uneven terrain

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10.1115/DETC2019-97227

Koopaee et al. - 2019 - Dynamical Modelling and Control of Snake-Like Motion_Authors_VersionFinal author version , 943 KB

Cite this

Koopaee, M. J., Pretty, C., Classens, K., & Chen, X. Q. (2019). Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments. In 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (Vol. 9). Article DETC2019-97227 American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2019-97227

Koopaee, Mohammadali Javaheri ; Pretty, Christopher ; Classens, Koen et al. / Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments. 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications. Vol. 9 Anaheim, California, USA : American Society of Mechanical Engineers, 2019.

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abstract = "This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment",

keywords = "Adaptive locomotion, Bio inspired snake robots, Equations of motion, Pedal wave locomotion, Uneven terrain",

author = "Koopaee, {Mohammadali Javaheri} and Christopher Pretty and Koen Classens and Chen, {Xiao Qi}",

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Koopaee, MJ, Pretty, C, Classens, K & Chen, XQ 2019, Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments. in 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications. vol. 9, DETC2019-97227, American Society of Mechanical Engineers, Anaheim, California, USA, ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019, Anaheim, United States, 18/08/19. https://doi.org/10.1115/DETC2019-97227

Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments. / Koopaee, Mohammadali Javaheri; Pretty, Christopher; Classens, Koen et al.
15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications. Vol. 9 Anaheim, California, USA: American Society of Mechanical Engineers, 2019. DETC2019-97227.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment

AB - This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment

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KW - Equations of motion

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KW - Uneven terrain

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BT - 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

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Koopaee MJ, Pretty C, Classens K, Chen XQ. Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments. In 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications. Vol. 9. Anaheim, California, USA: American Society of Mechanical Engineers. 2019. DETC2019-97227 doi: 10.1115/DETC2019-97227

Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments

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Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space

Generalized Dynamical Modeling of 2-D Modular Snake Robots

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