Design and control of biologically inspired wheel-less snake-like robot

Zeki Y. Bayraktaroglu; Atilla Kihçarslan; Ahmet Kuzucu; Vincent Hugel; Pierre Blazevic

doi:10.1109/BIOROB.2006.1639222

Design and control of biologically inspired wheel-less snake-like robot

Zeki Y. Bayraktaroglu^*, Atilla Kihçarslan, Ahmet Kuzucu, Vincent Hugel, Pierre Blazevic

^*Corresponding author for this work

Department of Mechanical Engineering

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

33 Citations (Scopus)

Abstract

This paper describes our research project on snake-like locomotion of robotic platforms and the results of the experiments conducted with a wheel-less snake-like robot prototype. Biological inspiration has been at the hardcore of the mechanical design and the control method applied to the robot. With closed-loop control applied to the present wheelless prototype, it has succeeded in progressing through lateral undulation, the most common limbless locomotion type observed in natural snakes. Main results consist of the robustness of the locomotion with respect to the variations in initial conditions and external perturbations.

Original language	English
Title of host publication	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages	1001-1006
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2006.1639222
Publication status	Published - 2006
Event	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: 20 Feb 2006 → 22 Feb 2006

Publication series

Name	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume	2006

Conference

Conference	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country/Territory	Italy
City	Pisa
Period	20/02/06 → 22/02/06

Keywords

Biologically inspired methods
Lateral undulation
Limbless locomotion
Snake-like robot

Access to Document

10.1109/BIOROB.2006.1639222

Cite this

Bayraktaroglu, Z. Y., Kihçarslan, A., Kuzucu, A., Hugel, V., & Blazevic, P. (2006). Design and control of biologically inspired wheel-less snake-like robot. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 1001-1006). Article 1639222 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006). https://doi.org/10.1109/BIOROB.2006.1639222

Bayraktaroglu, Zeki Y. ; Kihçarslan, Atilla ; Kuzucu, Ahmet et al. / Design and control of biologically inspired wheel-less snake-like robot. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. pp. 1001-1006 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006).

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title = "Design and control of biologically inspired wheel-less snake-like robot",

abstract = "This paper describes our research project on snake-like locomotion of robotic platforms and the results of the experiments conducted with a wheel-less snake-like robot prototype. Biological inspiration has been at the hardcore of the mechanical design and the control method applied to the robot. With closed-loop control applied to the present wheelless prototype, it has succeeded in progressing through lateral undulation, the most common limbless locomotion type observed in natural snakes. Main results consist of the robustness of the locomotion with respect to the variations in initial conditions and external perturbations.",

keywords = "Biologically inspired methods, Lateral undulation, Limbless locomotion, Snake-like robot",

author = "Bayraktaroglu, {Zeki Y.} and Atilla Kih{\c c}arslan and Ahmet Kuzucu and Vincent Hugel and Pierre Blazevic",

year = "2006",

doi = "10.1109/BIOROB.2006.1639222",

language = "English",

isbn = "1424400406",

series = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

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booktitle = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

note = "1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 ; Conference date: 20-02-2006 Through 22-02-2006",

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Bayraktaroglu, ZY, Kihçarslan, A, Kuzucu, A, Hugel, V & Blazevic, P 2006, Design and control of biologically inspired wheel-less snake-like robot. in Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006., 1639222, Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, vol. 2006, pp. 1001-1006, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 20/02/06. https://doi.org/10.1109/BIOROB.2006.1639222

Design and control of biologically inspired wheel-less snake-like robot. / Bayraktaroglu, Zeki Y.; Kihçarslan, Atilla; Kuzucu, Ahmet et al.
Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 1001-1006 1639222 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006).

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

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AU - Hugel, Vincent

AU - Blazevic, Pierre

PY - 2006

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AB - This paper describes our research project on snake-like locomotion of robotic platforms and the results of the experiments conducted with a wheel-less snake-like robot prototype. Biological inspiration has been at the hardcore of the mechanical design and the control method applied to the robot. With closed-loop control applied to the present wheelless prototype, it has succeeded in progressing through lateral undulation, the most common limbless locomotion type observed in natural snakes. Main results consist of the robustness of the locomotion with respect to the variations in initial conditions and external perturbations.

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Y2 - 20 February 2006 through 22 February 2006

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Bayraktaroglu ZY, Kihçarslan A, Kuzucu A, Hugel V, Blazevic P. Design and control of biologically inspired wheel-less snake-like robot. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 1001-1006. 1639222. (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006). doi: 10.1109/BIOROB.2006.1639222

Design and control of biologically inspired wheel-less snake-like robot

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