Development of a novel locomotion algorithm for snake robot

A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suita...

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Main Authors:	Khan, Md. Raisuddin, Billah, Md. Masum, Watanabe, Mitsuru Lukman, Shafie, Amir Akramin
Format:	Article
Language:	English
Published:	IOP Publishing 2013
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/33783/ http://irep.iium.edu.my/33783/ http://irep.iium.edu.my/33783/ http://irep.iium.edu.my/33783/1/2039_Full_Paper.pdf

id	iium-33783
recordtype	eprints
spelling	iium-337832015-01-22T01:39:40Z http://irep.iium.edu.my/33783/ Development of a novel locomotion algorithm for snake robot Khan, Md. Raisuddin Billah, Md. Masum Watanabe, Mitsuru Lukman Shafie, Amir Akramin T Technology (General) A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation. IOP Publishing 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/33783/1/2039_Full_Paper.pdf Khan, Md. Raisuddin and Billah, Md. Masum and Watanabe, Mitsuru Lukman and Shafie, Amir Akramin (2013) Development of a novel locomotion algorithm for snake robot. IOP Conference Series: Materials Science and Engineering, 53 (1). 012012-1. ISSN 1757-8981 http://iopscience.iop.org/1757-899X/53/1/012012/pdf/1757-899X_53_1_012012.pdf 10.1088/1757-899X/53/1/012012
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	T Technology (General)
spellingShingle	T Technology (General) Khan, Md. Raisuddin Billah, Md. Masum Watanabe, Mitsuru Lukman Shafie, Amir Akramin Development of a novel locomotion algorithm for snake robot
description	A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation.
format	Article
author	Khan, Md. Raisuddin Billah, Md. Masum Watanabe, Mitsuru Lukman Shafie, Amir Akramin
author_facet	Khan, Md. Raisuddin Billah, Md. Masum Watanabe, Mitsuru Lukman Shafie, Amir Akramin
author_sort	Khan, Md. Raisuddin
title	Development of a novel locomotion algorithm for snake robot
title_short	Development of a novel locomotion algorithm for snake robot
title_full	Development of a novel locomotion algorithm for snake robot
title_fullStr	Development of a novel locomotion algorithm for snake robot
title_full_unstemmed	Development of a novel locomotion algorithm for snake robot
title_sort	development of a novel locomotion algorithm for snake robot
publisher	IOP Publishing
publishDate	2013
url	http://irep.iium.edu.my/33783/ http://irep.iium.edu.my/33783/ http://irep.iium.edu.my/33783/ http://irep.iium.edu.my/33783/1/2039_Full_Paper.pdf
first_indexed	2023-09-18T20:48:52Z
last_indexed	2023-09-18T20:48:52Z
_version_	1777409859077013504

Development of a novel locomotion algorithm for snake robot

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