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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

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • 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

  • 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