Design and Control of a Detecting Snake Robot by Passing Narrow Spaces

Zezheng Qi; Shibing Hao; Qianqian Zhang; Ran Shi; Yunjiang Lou

doi:10.1007/978-981-19-9398-5_32

Design and Control of a Detecting Snake Robot by Passing Narrow Spaces

Zezheng Qi
, Shibing Hao
, Qianqian Zhang
, Ran Shi
, Yunjiang Lou^*

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Shenzhen Polytechnic

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

Abstract

Compared to other types of robots, snake robots have many advantages and are able to work in special environments such as narrow spaces. In this paper, we design a remote-controlled snake robot with orthogonal connections by investigating the structural design and motion planning algorithms according to performance requirements. Experiments have shown that the snake robot designed in this paper can move quickly on flat surfaces and can also enter narrow environments for detection. In post-disaster rescue, the snake robot can be used to enter through narrow passages, detect trapped people and improve rescue efficiency.

Original language	English
Title of host publication	Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022
Editors	Xinjun Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	549-567
Number of pages	19
ISBN (Print)	9789811993978
DOIs	https://doi.org/10.1007/978-981-19-9398-5_32
State	Published - 2023
Externally published	Yes
Event	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 - Yantai, China Duration: 30 Jul 2022 → 1 Aug 2022

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022
Country/Territory	China
City	Yantai
Period	30/07/22 → 1/08/22

Keywords

Control algorithm
Snake robot
System design

Access to Document

10.1007/978-981-19-9398-5_32

Cite this

Qi, Z., Hao, S., Zhang, Q., Shi, R., & Lou, Y. (2023). Design and Control of a Detecting Snake Robot by Passing Narrow Spaces. In X. Liu (Ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022 (pp. 549-567). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-9398-5_32

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title = "Design and Control of a Detecting Snake Robot by Passing Narrow Spaces",

abstract = "Compared to other types of robots, snake robots have many advantages and are able to work in special environments such as narrow spaces. In this paper, we design a remote-controlled snake robot with orthogonal connections by investigating the structural design and motion planning algorithms according to performance requirements. Experiments have shown that the snake robot designed in this paper can move quickly on flat surfaces and can also enter narrow environments for detection. In post-disaster rescue, the snake robot can be used to enter through narrow passages, detect trapped people and improve rescue efficiency.",

keywords = "Control algorithm, Snake robot, System design",

author = "Zezheng Qi and Shibing Hao and Qianqian Zhang and Ran Shi and Yunjiang Lou",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 ; Conference date: 30-07-2022 Through 01-08-2022",

year = "2023",

doi = "10.1007/978-981-19-9398-5\_32",

language = "英语",

isbn = "9789811993978",

series = "Lecture Notes in Mechanical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "549--567",

editor = "Xinjun Liu",

booktitle = "Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022",

address = "德国",

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Qi, Z, Hao, S, Zhang, Q, Shi, R & Lou, Y 2023, Design and Control of a Detecting Snake Robot by Passing Narrow Spaces. in X Liu (ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 549-567, 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022, Yantai, China, 30/07/22. https://doi.org/10.1007/978-981-19-9398-5_32

Design and Control of a Detecting Snake Robot by Passing Narrow Spaces. / Qi, Zezheng; Hao, Shibing; Zhang, Qianqian et al.
Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. ed. / Xinjun Liu. Springer Science and Business Media Deutschland GmbH, 2023. p. 549-567 (Lecture Notes in Mechanical Engineering).

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

TY - GEN

T1 - Design and Control of a Detecting Snake Robot by Passing Narrow Spaces

AU - Qi, Zezheng

AU - Hao, Shibing

AU - Zhang, Qianqian

AU - Shi, Ran

AU - Lou, Yunjiang

PY - 2023

Y1 - 2023

N2 - Compared to other types of robots, snake robots have many advantages and are able to work in special environments such as narrow spaces. In this paper, we design a remote-controlled snake robot with orthogonal connections by investigating the structural design and motion planning algorithms according to performance requirements. Experiments have shown that the snake robot designed in this paper can move quickly on flat surfaces and can also enter narrow environments for detection. In post-disaster rescue, the snake robot can be used to enter through narrow passages, detect trapped people and improve rescue efficiency.

AB - Compared to other types of robots, snake robots have many advantages and are able to work in special environments such as narrow spaces. In this paper, we design a remote-controlled snake robot with orthogonal connections by investigating the structural design and motion planning algorithms according to performance requirements. Experiments have shown that the snake robot designed in this paper can move quickly on flat surfaces and can also enter narrow environments for detection. In post-disaster rescue, the snake robot can be used to enter through narrow passages, detect trapped people and improve rescue efficiency.

KW - Control algorithm

KW - Snake robot

KW - System design

UR - https://www.scopus.com/pages/publications/85163937629

U2 - 10.1007/978-981-19-9398-5_32

DO - 10.1007/978-981-19-9398-5_32

M3 - 会议稿件

AN - SCOPUS:85163937629

SN - 9789811993978

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BT - Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022

A2 - Liu, Xinjun

PB - Springer Science and Business Media Deutschland GmbH

T2 - 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

Y2 - 30 July 2022 through 1 August 2022

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Qi Z, Hao S, Zhang Q, Shi R, Lou Y. Design and Control of a Detecting Snake Robot by Passing Narrow Spaces. In Liu X, editor, Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 549-567. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-19-9398-5_32

Design and Control of a Detecting Snake Robot by Passing Narrow Spaces

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