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The Parameterized Complexity of Motion Planning for Snake-Like Robots [article]

Siddharth Gupta, Guy Sa'ar, Meirav Zehavi
2019 arXiv   pre-print
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning.  ...  To the best of our knowledge, the study of the parameterized complexity of motion planning problems (where the intermediate configurations of the motion are of importance) has so far been largely overlooked  ...  We study the parameterized complexity of a variant of Snake that was introduced by Biasi and Ophelders [3] , which models real-world problems of motion planning for agents of a "snake-like" shape.  ... 
arXiv:1903.02445v1 fatcat:epne2dsumvhjhgzc5xnpqywdoa

The Parameterized Complexity of Motion Planning for Snake-Like Robots

Siddharth Gupta, Guy Sa'ar, Meirav Zehavi
2020 The Journal of Artificial Intelligence Research  
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning.  ...  To the best of our knowledge, the study of the parameterized complexity of motion planning problems (where the intermediate configurations of the motion are of importance) has so far been largely overlooked  ...  Acknowledgments A preliminary version of this paper appeared in the proceedings of IJCAI 2019. The research of the first author is supported in part by the Zuckerman STEM Leadership Program.  ... 
doi:10.1613/jair.1.11864 fatcat:ptm6ua6io5benl4zz66b4lvvlu

Kinematic gait synthesis for snake robots

Chaohui Gong, Matthew J. Travers, Henry C. Astley, Lu Li, Joseph R. Mendelson, Daniel I. Goldman, Howie Choset
2015 The international journal of robotics research  
The low-dimensional representation of the recorded snake motion is able to reproduce the essential features of the recorded biological snake motion on a snake robot, leading to improved agility and maneuverability  ...  The foundation of this work is based on the hypothesis that, for snake locomotion that is approximately kinematic, replaying parameterized shape trajectory data collected from biological snakes can generate  ...  DIG thanks the Physics of Living Systems program at the Natural Science Foundation and the Army Research Office.  ... 
doi:10.1177/0278364915593793 fatcat:e6rkr4ryszblpchl2u7p43iztm

Simplified motion modeling for snake robots

Florian Enner, David Rollinson, Howie Choset
2012 2012 IEEE International Conference on Robotics and Automation  
Estimating world motion of snake robots is often difficult because of the complex way a robot's cyclic shape changes (gaits) interact with the surrounding environment.  ...  In this way, we effectively treat the snake robot like a wheeled robot where the bottom-most modules propel the robot in much the way the bottom of the wheels would propel the chassis of a car.  ...  The authors would like to thank the members of the Biorobotics Lab and Robotics Institute, particularly Ross Hatton, Matt Tesch, Austin Buchan and Justin MacEy.  ... 
doi:10.1109/icra.2012.6225163 dblp:conf/icra/EnnerRC12 fatcat:tbljdjy65rc6jdjkjfsud56jny

Parameterized and Scripted Gaits for Modular Snake Robots

Matthew Tesch, Kevin Lipkin, Isaac Brown, Ross Hatton, Aaron Peck, Justine Rembisz, Howie Choset
2009 Advanced Robotics  
These cyclic motions directly control the snake robot's internal degrees of freedom which, in turn, causes a net motion, say forward, lateral and rotational, for the snake robot.  ...  Just like their biological counterparts, snake robots achieve these locomotion capabilities using cyclic motions called gaits.  ...  We address motion planning by designing gaits -cyclic motions of the internal variables of the robot that cause desired net displacements.  ... 
doi:10.1163/156855309x452566 fatcat:b66ligo5w5b25d34gljf7gzj44

Robot-inspired biology: The compound-wave control template

Jin Dai, Matthew Travers, Tony Dear, Chaohui Gong, Henry C. Astley, Daniel I Goldman, Howie Choset
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Controllers utilizing this parameterization for snake robots have been able to induce behaviors similar to that of the robots' biological counterparts.  ...  snake robots.  ...  biologically inspired snake-like motions, such as sidewinding, which have in-plane as well as out-of-plane motion.  ... 
doi:10.1109/icra.2015.7140022 dblp:conf/icra/DaiTDGAGC15 fatcat:qekpy2ipdndk5bl2fogkdfq2hi

Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

Olatunji Mumini Omisore, Shipeng Han, Yousef Al-Handarish, Wenjing Du, Wenke Duan, Toluwanimi Oluwadara Akinyemi, Lei Wang
2020 Micromachines  
In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance  ...  Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/mi11040386 pmid:32272641 pmcid:PMC7230873 fatcat:o7dquoaft5fc5eiyqwpqthkoe4

Locomotive reduction for snake robots

Xuesu Xiao, Ellen Cappo, Weikun Zhen, Jin Dai, Ke Sun, Chaohui Gong, Matthew J. Travers, Howie Choset
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
While the versatility of locomotion methods provided by a snake-like form is of great advantage, the difficulties in both representing the high dimensional workspace configuration and implementing the  ...  Based on a previously defined average body frame and set of motion primitives, this work proposes locomotive reduction, a simplifying methodology which reduces the complexity of controlling a redundant  ...  The planned path for the snake robot is an ordered set of target points.  ... 
doi:10.1109/icra.2015.7139718 dblp:conf/icra/XiaoCZDSGTC15 fatcat:chl2ekeiazatzd5hpu442sdsfm

Virtual Chassis for Snake Robots: Definition and Applications

David Rollinson, Austin Buchan, Howie Choset
2012 Advanced Robotics  
Intuitively representing the motion of a snake robot is difficult.  ...  This separation of motion allows much simpler models-such as those derived for wheeled vehicles-to accurately approximate the motion of the robot as it moves through the world.  ...  Acknowledgments The authors would like to acknowledge the help provided by the members of the Biorobotics Lab and the Robotics Institute.  ... 
doi:10.1080/01691864.2012.728695 fatcat:wmwlbk3mi5fqxehes5wfoqaeni

Serpentine motion control of snake robots for curvature and heading based trajectory - parameterization

Eleni Kelasidi, Anthony Tzes
2012 2012 20th Mediterranean Conference on Control & Automation (MED)  
The control problem for the serpentine motion of a planar snake under the assumption of a trajectory characterized by its curvature and heading is examined in this article.  ...  An inner loop PD-controller is used for trajectory tracking by compensating the effects of the snake's dynamics, while an outer loop first-order controller is used for the formation of the reference joint  ...  For the case of wheel-less snake robots, the friction between the snake robot and the ground, affects significantly its motion.  ... 
doi:10.1109/med.2012.6265693 fatcat:m6izlfeipvfuzihc4apozq5wzu

Extended gait equation for sidewinding

Chaohui Gong, Matthew J. Travers, Xiaozhou Fu, Howie Choset
2013 2013 IEEE International Conference on Robotics and Automation  
Motivated by this limitation, in this work we propose a novel approach to develop analytical expressions for snake robot gaits based on the study of the corresponding geometric model.  ...  Applying this method to the virtual tread model for conical sidewinding, we derive an analytical expression between the parameters that describe the gait's motion and the turning radius of the system moving  ...  ACKNOWLEDGMENTS We would like to acknowledge the assistance of Lu Li with the experimental portion of this work. Grateful acknowledgment is made to Ross L. Hatton for permission to use Fig. 1 .  ... 
doi:10.1109/icra.2013.6631315 dblp:conf/icra/GongTFC13 fatcat:s5m6wrvk4zddtbcxxukzm7j7le

Shape-based coordination in locomotion control

Matthew Travers, Julian Whitman, Howie Choset
2018 The international journal of robotics research  
We introduce shape functions as the analytical basis for specifying kinematic coupling relationships that constrain the relative motion among the internal degrees of freedom for a given system during its  ...  However, this inherent variety poses significant challenges that have been the subject of a great deal of previous work: What are the most effective or most efficient methods for achieving the intrinsic  ...  For example, consider the shape function Snake-like robot.  ... 
doi:10.1177/0278364918761569 fatcat:bu5nd2jndnfrvelonawpysf64e

The Mechanism of a Snake-Like Robot's Clamping Obstacle Navigation on High Voltage Transmission Lines

Wang Wei, Bai Yu-cheng, Wu Gong-ping, Li Shui-xia, Chen Qian
2013 International Journal of Advanced Robotic Systems  
In this paper, the methods of a snake-like robot climbing on high voltage transmission lines are presented.  ...  The motion mechanism of the snake-like robot's head part clamping obstacle navigation is studied and the kinematics model coupled with the robot and the line environment under this mode is introduced.  ...  of snake-like robots for use on high voltage lines is proposed in this paper, which expands the application range of snake-like robots.  ... 
doi:10.5772/56767 fatcat:ede5x7eutrarlobou654xkyztu

Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion

Henry C. Astley, Chaohui Gong, Jin Dai, Matthew Travers, Miguel M. Serrano, Patricio A. Vela, Howie Choset, Joseph R. Mendelson, David L. Hu, Daniel I. Goldman
2015 Proceedings of the National Academy of Sciences of the United States of America  
Another advantage to studying sidewinding is the existence of a snake-like robot capable of performing effective sidewinding locomotion; our previous robot experiments using this "physical Significance  ...  Our study reveals the utility of templates in understanding the control of biological movement as well as in developing control schemes for limbless robots. sidewinder | biomechanics | robotics | template  ...  The US Government is authorized to reproduce and distribute reprints for Government purposes not withstanding any copyright notation herein.  ... 
doi:10.1073/pnas.1418965112 pmid:25831489 pmcid:PMC4434722 fatcat:tzeq6bbyivgrpm6yz43vovhjuu

Snakes on an inclined plane: Learning an adaptive sidewinding motion for changing slopes

Chaohui Gong, Matthew Tesch, David Rollinson, Howie Choset
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Sidewinding is an efficient gait adopted by biological and robotic snakes for locomoting on various terrains.  ...  We demonstrate the capability of a snake robot to automatically adjust gait parameters to optimally move up and down slopes of varying angle. This capability is achieved by three components.  ...  ACKNOWLEDGMENTS We would like to acknowledge Ross L. Hatton for the permission to use Fig. 3 .  ... 
doi:10.1109/iros.2014.6942697 dblp:conf/iros/GongTRC14 fatcat:swiw5s6vs5ahhkkjwqsj5is26m
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