Geodesic
An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction
Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 623-632.

Voir la notice de l'article provenant de la source Math-Net.Ru

This paper deals with the gait of a robot crawling on a horizontal rough surface with dry friction. A distinctive feature of the device is the presence of two supporting elements with a controlled coefficient of friction, which allows for alternately fixing the supports on the surface. As a result of numerical simulation, the patterns (laws) of influence on the motion characteristics of the mass-dimensional and control parameters of the robot, as well as the parameters of the supporting surface, are obtained, so that it is possible to find application in the design of the specified devices.
Keywords: crawling robot, supporting element, controlled friction coefficient, dry friction model. 
@article{ND_2019_15_4_a21,
     author = {L. Yu. Vorochaeva and S. I. Savin and A. S. Yatsun},
     title = {An {Investigation} of {Motion} of a {Crawling} {Robot} with {Supports} with {Controllable} {Friction}},
     journal = {Russian journal of nonlinear dynamics},
     pages = {623--632},
     publisher = {mathdoc},
     volume = {15},
     number = {4},
     year = {2019},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ND_2019_15_4_a21/}
}
TY  - JOUR
AU  - L. Yu. Vorochaeva
AU  - S. I. Savin
AU  - A. S. Yatsun
TI  - An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction
JO  - Russian journal of nonlinear dynamics
PY  - 2019
SP  - 623
EP  - 632
VL  - 15
IS  - 4
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/ND_2019_15_4_a21/
LA  - en
ID  - ND_2019_15_4_a21
ER  - 
%0 Journal Article
%A L. Yu. Vorochaeva
%A S. I. Savin
%A A. S. Yatsun
%T An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction
%J Russian journal of nonlinear dynamics
%D 2019
%P 623-632
%V 15
%N 4
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2019_15_4_a21/
%G en
%F ND_2019_15_4_a21
L. Yu. Vorochaeva; S. I. Savin; A. S. Yatsun. An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction. Russian journal of nonlinear dynamics, Tome 15 (2019) no. 4, pp. 623-632. http://geodesic.mathdoc.fr/item/ND_2019_15_4_a21/

[1] Conkur, E. S. and Gurbuz, R., “Path Planning Algorithm for Snake-Like Robots”, Inform. Technol. Contr., 37:2 (2008), 159–162

[2] Takemori, T., Tanaka, M., and Matsuno, F., “Gait Design for a Snake Robot by Connecting Curve Segments and Experimental Demonstration”, IEEE Trans. on Robotics, 34:5 (2018), 1384–1391 | DOI

[3] Fu, Q., Mitchel, Th., Yi, N., Gart, S., and Li, Ch., “Snake Robot's Poor 3-D Obstacle Traversal Reveals Snake's Better Stability Mechanisms”, APS March Meeting 2018, 63:1 (2018)

[4] Douadi, L., Spinello, D., Gueaieb, W., and Sarfraz, H., “Planar Kinematics Analysis of a Snake-Like Robot”, Robotica, 32:5 (2014), 659–675 | DOI

[5] Wei, W., Yu, J. X., Lin, W. H., Mai, R. Sh., Chen, Ch. X., He, Zh. Y., and Li, Zh., “Structure Design of Climbing Snake-Like Robot for Detection of Cable-Stayed Bridge”, Appl. Mech. Mater., 598 (2014), 610–618 | DOI

[6] Huang, Ch.-W., Huang, Ch.-H., Hung, Y.-H., and Chang, Ch.-Y., “Sensing Pipes of a Nuclear Power Mechanism Using Low-Cost Snake Robot”, Adv. Mech. Eng., 10:6 (2018), 8 pp. | DOI

[7] Vorochaeva, L. Yu., Yatsun, A. S., and Yatsun, S. F., “Simulation of the Motion of a Five-Link Crawling Robot with Controlled Friction on a Surface Having Obstacles”, J. Comput. Syst. Sci. Int., 56:3 (2017), 527–552 | DOI | MR | Zbl