| Title |
Studying slippage on pushing applications with snake robots
|
|---|---|
| Published in |
Robotics and Biomimetics, November 2017
|
| DOI | 10.1186/s40638-017-0065-3 |
| Pubmed ID | |
| Authors |
Fabian Reyes, Shugen Ma |
| Abstract |
In this paper, a framework for analyzing the motion resulting from the interaction between a snake robot and an object is shown. Metrics are derived to study the motion of the object and robot, showing that the addition of passive wheels to the snake robot helps to minimize slippage. However, the passive wheels do not have a significant impact on the force exerted onto the object. This puts snake robots in a similar framework as robotic arms, while considering special properties exclusive to snake robots (e.g., lack of a fixed-base, interaction with the environment through friction). It is also shown that the configuration (shape) of the snake robot, parameterized with the polar coordinates of the robot's COM, plays an important role in the interaction with the object. Two examples, a snake robot with two joints and another with three joints, are studied to show the applicability of the model. |
X Demographics
The data shown below were collected from the profile of 1 X user who shared this research output. Click here to find out more about how the information was compiled.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| United Kingdom | 1 | 100% |
Demographic breakdown
| Type | Count | As % |
|---|---|---|
| Members of the public | 1 | 100% |
Mendeley readers
The data shown below were compiled from readership statistics for 3 Mendeley readers of this research output. Click here to see the associated Mendeley record.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| Unknown | 3 | 100% |
Demographic breakdown
| Readers by professional status | Count | As % |
|---|---|---|
| Student > Ph. D. Student | 2 | 67% |
| Student > Bachelor | 1 | 33% |
| Readers by discipline | Count | As % |
|---|---|---|
| Engineering | 3 | 100% |
Attention Score in Context
This research output has an Altmetric Attention Score of 1. This is our high-level measure of the quality and quantity of online attention that it has received. This Attention Score, as well as the ranking and number of research outputs shown below, was calculated when the research output was last mentioned on 07 November 2017.
All research outputs
#20,451,991
of 23,007,887 outputs
Outputs from Robotics and Biomimetics
#35
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Outputs of similar age
#286,904
of 329,244 outputs
Outputs of similar age from Robotics and Biomimetics
#13
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