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Advanced Robotics Volume 32, 2018 - Issue 10
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Motion control of a snake robot moving between two non-parallel planes

Mizuki NakajimaDepartment of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Japan.Correspondence[email protected]
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Motoyasu TanakaDepartment of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Japan.ORCID Iconhttp://orcid.org/0000-0002-3717-8852View further author information
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Kazuo TanakaDepartment of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Japan.View further author information
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Fumitoshi MatsunoDepartment of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan.View further author information
Pages 559-573 | Received 06 Sep 2017, Accepted 20 Mar 2018, Published online: 08 Apr 2018

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Read on this site (2)

Mizuki Nakajima & Motoyasu Tanaka. Motion control of a snake robot on multiple inclined planes. Advanced Robotics 0:0, pages 1-17.
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Yiping Qiu & Hisashi Date. A low computation-cost locomotion control for underwater snake robot based on Monte Carlo model predictive control and curvature derivative control. Advanced Robotics 0:0, pages 1-14.
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Articles from other publishers (19)

Shunta Suyama, Mizuki Nakajima, Hikaru Arita & Motoyasu Tanaka. (2024) Control of a Snake Robot With Proximity Sensors to Adapt for Two Variable Planes. IEEE Access 12, pages 46864-46880.
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Areej Ghazi Abdulshaheed, Mohamed Bin Hussein, Mohannad A. Kadhom, Zaid M. H. Al Dulaimi & Faeq H. Gburi. Step climbing of snake robot using script gait and traveling wave locomotion. Step climbing of snake robot using script gait and traveling wave locomotion.
Junhyoung Ha. (2023) Robotic Snake Locomotion Exploiting Body Compliance and Uniform Body Tensions. IEEE Transactions on Robotics 39:5, pages 3875-3887.
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Belal A. Elsayed, Tatsuya Takemori, Motoyasu Tanaka & Fumitoshi Matsuno. (2022) Mobile Manipulation Using a Snake Robot in a Helical Gait. IEEE/ASME Transactions on Mechatronics 27:5, pages 2600-2611.
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Yunlong Yi, Ying Guan & Xiangbin Meng. (2022) Cloud Computing Based on Big Data-Driven Robot Walking Route and Real-Time Positioning Intelligent Determination. Wireless Communications and Mobile Computing 2022, pages 1-11.
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Yuta Iguchi, Mizuki Nakajima, Ryo Ariizumi & Motoyasu Tanaka. (2022) Step Climbing Control of Snake Robot with Prismatic Joints. Sensors 22:13, pages 4920.
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Divya Ramesh, Qiyuan Fu & Chen Li. (2022) SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain. SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain.
Motoyasu Tanaka. (2022) Control and Applications of a Wheeled Cord-like Robot車輪型索状ロボットの制御とその応用. Journal of the Robotics Society of Japan 40:4, pages 294-299.
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Tatsuya Takemori, Motoyasu Tanaka & Fumitoshi Matsuno. (2021) Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments. IEEE Transactions on Robotics 37:5, pages 1696-1711.
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Motoyasu Tanaka, Hidemasa Sawabe, Mizuki Nakajima & Ryo Ariizumi. (2021) Redundant Control of a Planar Snake Robot with Prismatic Joints. International Journal of Control, Automation and Systems 19:10, pages 3475-3486.
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Jindong Liu, Yuchuang Tong & Jinguo Liu. (2021) Review of snake robots in constrained environments. Robotics and Autonomous Systems 141, pages 103785.
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Takumi Yamato, Masami Iwase, Zini Stefano & Francesco Dal Corso. (2020) Modeling with The Projection Method Considering The Impact State. Modeling with The Projection Method Considering The Impact State.
Jason Lim, Weixin Yang, Yantao Shen & Jingang Yi. (2020) Analysis and Validation of Serpentine Locomotion Dynamics of a Wheeled Snake Robot Moving on Varied Sloped Environments. Analysis and Validation of Serpentine Locomotion Dynamics of a Wheeled Snake Robot Moving on Varied Sloped Environments.
Qiyuan Fu, Sean W Gart, Thomas W Mitchel, Jin Seob Kim, Gregory S Chirikjian & Chen Li. (2020) Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles. Integrative and Comparative Biology 60:1, pages 171-179.
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Kaixian Ba, Bin Yu, Yaliang Liu, Zhengguo Jin, Zhengjie Gao, Junxiao Zhang & Xiangdong Kong. (2020) Fuzzy Terminal Sliding Mode Control with Compound Reaching Law and Time Delay Estimation for HDU of Legged Robot. Complexity 2020, pages 1-16.
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Qiyuan Fu & Chen Li. (2020) Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance. Royal Society Open Science 7:2, pages 191192.
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Bin Yu, Qixin Zhu, Jing Yao, Junxiao Zhang, Zhipeng Huang, Zhengguo Jin & Xiangji Wang. (2020) Design, Mathematical Modeling and Force Control for Electro-Hydraulic Servo System With Pump-Valve Compound Drive. IEEE Access 8, pages 171988-172005.
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Shunsuke Nansai, Takumi Yamato, Masami Iwase & Hiroshi Itoh. (2019) Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer. Applied Sciences 9:19, pages 4012.
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Jia Yu, Yanlei Wang, Cuifang ZhaoShimou Chen & Suojiang Zhang. (2019) A 3D molecular cantilever based on interfacial self-assembly and the cobra-like actuation of long-chain imidazolium ionic liquids. Nanoscale 11:15, pages 7277-7286.
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