A snake robot for locomotion in a pipe using trapezium-like travelling wave
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10246281" target="_blank" >RIV/61989100:27230/21:10246281 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S0094114X20304389?via%3Dihub" target="_blank" >https://www.sciencedirect.com/science/article/pii/S0094114X20304389?via%3Dihub</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.mechmachtheory.2020.104221" target="_blank" >10.1016/j.mechmachtheory.2020.104221</a>
Alternative languages
Result language
angličtina
Original language name
A snake robot for locomotion in a pipe using trapezium-like travelling wave
Original language description
Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, for example, pipes. This article deals with a snake robot moving in a pipe using a so-called trapezium-like travelling wave. In this paper, we present a mathematical model of locomotion of the snake robot in a pipe of rectangular cross-section. Subsequently, we designed a control algorithm using a trapezium-like travelling wave. Within the control algorithm we introduced the so-called motion matrix of a trapezium-like travelling wave that contains information about the vector of generalized variables at any point of the locomotion cycle. The paper also presents a simulation model in MATLAB R2019b interfacing with CoppeliaSim V4.0.0. Furthermore, in our research we have developed an experimental snake robot with the purpose to verify the derived mathematical model, control algorithm and simulation model. Experimental results show the influence of certain parameters of the trapezium-like travelling wave on locomotion properties, such as the travelled distance or the average speed of the snake robot passing through a pipe. In the final part of this paper, experimental results are discussed and key elements of the proposed control algorithm are highlighted. (C) 2020
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Mechanism and Machine Theory
ISSN
0094-114X
e-ISSN
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Volume of the periodical
158
Issue of the periodical within the volume
April 2021, 104221
Country of publishing house
US - UNITED STATES
Number of pages
22
Pages from-to
1-21
UT code for WoS article
000615930500008
EID of the result in the Scopus database
2-s2.0-85097865902