Snake robot thesis

Degree Name Master of Engineering Some studies have demonstrated that snake robots have more advantages than other mobile robots in real-world applications such as search-and-rescue operations and building inspections.

Snake robot thesis

snake like robot a thesis submitted to the graduate school of natural and applied sciences of middle east technical university by ergİn kurtulmu in partial fulfillment of the requirements for the degree of master of science in . snake robots that actively use the terrain for locomotion, i.e. obstacle aided locomotion. In order to accurately model and understand this phenomenon, thesis are developed for wheel-less snake robots to aid future development of motion patterns that do not rely on passive wheels. This thesis presents the pitch-and-yaw modular snake robot developed as a robotic platform to study snake robot locomotion. The joint control of the robot was optimised and optimal gait parameters of the sinusoid function generators, which are used to generate the gaits, were obtained.

Statement My goal has been, and remains, to bring the precision of computer science and applied mathematics to the realities and uncertainties of mechanical systems.

I will continue to make fundamental contributions in design, motion planning, path planning, and estimation. My group has designed and constructed a variety of snake robots, highly articulated mechanisms that can exploit their shape and many degrees of freedom to thread through tightly packed regions, accessing locations that people and conventional machinery otherwise could not.

Working with practitioners in their respective fields, my group has been active in applying these mechanisms toward minimally invasive surgery, urban search and rescue, and the manufacturing of aircraft wing assemblies with Boeing.

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One notable example is our surgical snake robot; in collaboration with Dr. Marco Zenati at the University of Pittsburgh, we have developed a small 11mm cross-sectional diameter snake robot for use in minimally invasive surgery. This device can reach deep into the body without the need for large incisions, thereby reducing both post-operative patient discomfort and medical costs.

I am now working with Dr. NOTES uses the natural orifices to Snake robot thesis access to the abdominal cavity through the walls of a luminal space in order to perform surgical procedures, thereby avoiding invasive abdominal wall incisions. Even more than conventional minimally invasive surgery, NOTES has the potential to produce better outcomes and quicker recovery as well as less post-operative discomfort and fewer complications.

We are also active in developing locomoting snake robots that use their internal degrees of freedom to interact with the environment in order to propel themselves in any desired direction. In the last two years alone, we have deployed this robot in many locations: Finally, included in Figure 2b-e, are other mechanisms my group has worked on over the past 10 years.

Simple algorithms alone are not sufficient to coordinate all of the degrees of freedom needed to produce purposeful motion for a complex robot. Motion planning for snake robots is difficult because they have many degrees of freedom and they are also underactuated, meaning that we can only control the internal degrees of freedom of the robot; the net motion cannot be directly controlled.

[email protected]: Lateral undulation of a snake-like robot

Therefore, we designed motion planners to coordinate the internal degrees of freedom so that the induced shape changes propel the snake robot in a desired direction. Already, we have been able to derive and implement a wide variety of snake robot gaits, including climbing, gap crossing, swimming, and stair climbing.

These gaits have been demonstrated in field tests, both inside and outside. We are currently looking at the fundamental mechanics to derive optimal gaits for a broad class of dynamic systems with nonholonomic constraints.

Research and Teaching Output of the MIT Community

Through collaboration with Prof. Matt Mason and our co-advised students we have developed a single degree-of-freedom robot which uses dynamic motion to climb between two parallel vertical walls. This work introduces minimalism in climbing, using dynamic motions to enable open loop control with a single motor.

Whereas motion planners specify a sequence of configurations, velocities and perhaps higher order derivatives to produce net motion, a path planner determines a sequence of robot configurations between a start and goal.

Although the two tasks are distinct, they both contend with the complexity of high dimensional configuration spaces. To deal with this complexity for path planning, our approach uses a topological map of the space, which reduces planning from a multi-dimensional search problem to a one-dimensional search.

Our work in topological mapping led to developing a coverage path planner that directs a robot to pass over every point in a target region, for application in robotic demining.

Snake robot thesis

This work represents the first provably complete sensor-based coverage algorithm for a broad class of patterns.snake like robot a thesis submitted to the graduate school of natural and applied sciences of middle east technical university by ergİn kurtulmu in partial fulfillment of the requirements for the degree of master of science in .

The examples or some models of snake robots are multi-link snake robot, snake-like or snake robot, hyper-redundant robot and G-snake robot. These snake robot are . One of the most limiting characteristics of our snake robots (and robots in general) is the inability to precisely sense and control the torques and forces of their actuators.

As such, the second part of this thesis focuses on the design and control of a new series-elastic actuated snake robot that incor- porates a high performance series.

control strategies for robots in contact a dissertation submitted to the department of aeronautics & astronautics and the committee on graduate studies.

Snake robot thesis

snake robots that actively use the terrain for locomotion, i.e. obstacle aided locomotion.

Control and Design of Snake Robots - The Robotics Institute Carnegie Mellon University

In order to accurately model and understand this phenomenon, thesis are developed for wheel-less snake robots to aid future development of motion patterns that do not rely on passive wheels.

This thesis presents a pose estimation algorithm for a snake robot as a step towards creating a closed-loop controlled snake robot.

The University of Canterbury snake robot is being developed for use in urban search and rescue, where snake robots have the advantage over wheeled robots that they are able to navigate through complex .

Guidance and Control of Underwater Snake Robots Using Planar Sinusoidal Gaits