Nothing Special   »   [go: up one dir, main page]
Skip to main content
Springer Nature Link
Log in

Dynamic modeling and simulation of a snake-like multibody robotic system with ground-adaptive strategy and efficient undulatory locomotion

  • Research
  • Published:
Multibody System Dynamics Aims and scope Submit manuscript

Abstract

This article presents a strategy of self adaptation for planar undulatory locomotion of an elongated, snake-like multibody robotic system under both non-varying and varying surface friction. Based on the system dynamics, an algorithm is developed to investigate the locomotion performance and its dependence upon the lateral undulation parameters. The celerity of the lateral undulatory wave propagating over the body of the robot is taken as a key parameter, since the variation of the celerity affects the forward propulsion speed of the robot. Moreover, celerity of the lateral undulatory wave is a linear function of the angular frequency of the sinusoidal motion imposed on the joints of the robot. Considering the static-kinetic lateral friction, the proposed algorithm computes the important point of separation between no-lateral slip and lateral slip simply with the help of celerity and speed of propulsion. Therefore, the results identify the optimum speed of propulsion for ground-adaptivity and efficient undulatory locomotion of the robot. The simulation results further verify the influence of the angular frequency of the sinusoidal joint motion upon the speed of propagation of the undulatory wave and also upon the speed of propulsion of the robot. This research work can provide useful basis for the control, optimization and self-adaptive locomotion of such and similar robots.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

Data Availability

Not Applicable.

Notes

  1. Here, \(c\) and \(s\) stands for cosine and sine, respectively.

References

  1. Alexander, R.M.N.: Principles of Animal Locomotion. Princeton University Press, Princeton (2003)

    Google Scholar 

  2. Gray, J.: The mechanism of locomotion in snakes. J. Exp. Biol. 23(2), 101–120 (1946)

    Article  Google Scholar 

  3. Hu, D.L., Nirody, J., Scott, T., Shelley, M.J.: The mechanics of slithering locomotion. Proc. Natl. Acad. Sci. USA 106(25), 10081–10085 (2009)

    Article  Google Scholar 

  4. Ostrowski, J., Burdick, J.: The geometric mechanics of undulatory robotic locomotion. Int. J. Robot. Res. 17(7), 683–701 (1998)

    Article  Google Scholar 

  5. Hirose, S.: Biologically Inspired Robots: Snake-Like Locomotors and Manipulators. Oxford Univ. Press, Oxford (1993)

    Google Scholar 

  6. Hirose, S., Morishima, A.: Design and control of a mobile robot with an articulated body. Int. J. Robot. Res. 9(2), 99–114 (1990)

    Article  Google Scholar 

  7. Saito, M., Fukaya, M., Iwasaki, T.: Serpentine locomotion with robotic snakes. IEEE Control Syst. Mag. 22(1), 64–81 (2002)

    Article  Google Scholar 

  8. Ma, S.: Analysis of snake movement forms for realization of snake-like robots. In: Proceedings 1999 IEEE International Conference on Robotics and Automation, vol. 4, pp. 3007–30134 (1999)

    Google Scholar 

  9. Guo, Z.V., Mahadevan, L.: Limbless undulatory propulsion on land. Proc. Natl. Acad. Sci. 105(9), 3179–3184 (2008)

    Article  Google Scholar 

  10. Texier, B., Ibarra, A., Melo, F.: Optimal propulsion of an undulating slender body with anisotropic friction. Soft Matter 14 (2017)

  11. Pettersen, K.Y.: Snake robots. Annu. Rev. Control 44, 19–44 (2017)

    Article  Google Scholar 

  12. Hopkins, J.K., Spranklin, B.W., Gupta, S.K.: A case study in optimization of gait and physical parameters for a snake-inspired robot based on a rectilinear gait. J. Mech. Robot. 3(1) (2011)

  13. Hasanzadeh, S., Tootoonchi, A.A.: Ground adaptive and optimized locomotion of snake robot moving with a novel gait. Auton. Robots 28(4), 457–470 (2010)

    Article  Google Scholar 

  14. Wu, X., Ma, S.: Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change. Auton. Robots 28(3), 283–294 (2009)

    Article  Google Scholar 

  15. Tang, C., Li, P., Zhou, G., Meng, D., Shu, X., Guo, S., Li, Z.: Modeling and mechanical analysis of snake robots on cylinders. J. Mech. Robot. 11(4) (2019)

  16. Hopkins, J.K., Gupta, S.K.: Design and modeling of a new drive system and exaggerated rectilinear-gait for a snake-inspired robot. J. Mech. Robot. 6(2) (2014)

  17. Bi, Z., Zhou, Q., Fang, H.: A worm-snake-inspired metameric robot for multi-modal locomotion: design, modeling, and unified gait control. Int. J. Mech. Sci. 254 (2023)

  18. Luo, Y., Zhao, N., Shen, Y., Li, P.: A rigid morphing mechanism enabled earthworm-like crawling robot. J. Mech. Robot. 15(1) (2022)

  19. Baysal, Y.A., Altas, I.H.: Adaptive snake robot locomotion in different environments. In: 2020 International Conference on Control, Automation and Diagnosis (ICCAD), pp. 1–6 (2020)

    Google Scholar 

  20. Yang, X., Zheng, L., Lu, D., Wang, J., Wang, S., Su, H., Wang, Z., Ren, L.: The snake-inspired robots: a review. Assem. Autom. 42 (2022)

  21. Behn, C., Schale, F., Zeidis, I., Zimmermann, K., Bolotnik, N.: Dynamics and motion control of a chain of particles on a rough surface. Mech. Syst. Signal Process. 89, 3–13 (2017)

    Article  Google Scholar 

  22. Karakasiliotis, K., Ijspeert, A.J.: Analysis of the terrestrial locomotion of a salamander robot. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5015–5020 (2009)

    Chapter  Google Scholar 

  23. Zhan, X., Fang, H., Xu, J., Wang, K.-W.: Planar locomotion of earthworm-like metameric robots. Int. J. Robot. Res. 38, 1–24 (2019)

    Article  Google Scholar 

  24. Karnopp, D.: Computer simulation of stick-slip friction in mechanical dynamic systems. J. Dyn. Syst. Meas. Control 107(1), 100–103 (1985)

    Article  Google Scholar 

  25. Boyer, F., Ali, S., Porez, M.: Macrocontinuous dynamics for hyperredundant robots: application to kinematic locomotion bioinspired by elongated body animals. IEEE Trans. Robot. 28(2), 303–317 (2012)

    Article  Google Scholar 

  26. Ali, S.: A unified dynamic algorithm for wheeled multibody systems with passive joints and nonholonomic constraints. Multibody Syst. Dyn. 41(4), 317–346 (2017)

    Article  MathSciNet  Google Scholar 

Download references

Funding

Not Applicable.

Author information

Authors and Affiliations

  1. Department of Mechatronics Engineering, University of Wah, Quaid Avenue, Wah Cantt, 47040, Punjab, Pakistan

    Shaukat Ali

Authors
  1. Shaukat Ali
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

S.A. wrote and reviewed the whole manuscript.

Corresponding author

Correspondence to Shaukat Ali.

Ethics declarations

Ethical Approval

Not Applicable.

Competing interests

The authors declare no competing interests.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Ali, S. Dynamic modeling and simulation of a snake-like multibody robotic system with ground-adaptive strategy and efficient undulatory locomotion. Multibody Syst Dyn 62, 235–247 (2024). https://doi.org/10.1007/s11044-024-09967-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11044-024-09967-3

Keywords

Search

Navigation