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Studying slippage on pushing applications with snake robots.

Fabian Reyes1, Shugen Ma1

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Passive wheels on snake robots reduce slippage but not force exerted on objects. Robot configuration significantly impacts object interaction, similar to robotic arms but with unique snake robot properties like no fixed base.

Keywords:
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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Snake robots offer unique locomotion and manipulation capabilities due to their continuous, articulated structures.
  • Analyzing the dynamics of snake robot interaction with objects is crucial for developing advanced robotic applications.
  • Existing frameworks often treat robots as fixed-base manipulators, overlooking the complexities of snake robot locomotion.

Purpose of the Study:

  • To present a novel framework for analyzing the motion dynamics between a snake robot and an object.
  • To derive metrics for quantifying robot and object motion during interaction.
  • To investigate the influence of passive wheels and robot configuration on interaction forces and slippage.

Main Methods:

  • Development of a theoretical framework to model snake robot-object interactions.
  • Derivation of quantitative metrics to analyze motion and forces.
  • Simulation and analysis of two- and three-jointed snake robot models with and without passive wheels.

Main Results:

  • Passive wheels were found to effectively minimize slippage between the snake robot and the object.
  • Passive wheels did not significantly alter the force exerted by the robot onto the object.
  • Snake robot configuration, defined by polar coordinates of its center of mass (COM), plays a critical role in interaction dynamics.

Conclusions:

  • The proposed framework provides a method to analyze snake robot-object interactions, highlighting similarities to robotic arms but accounting for unique properties.
  • Robot configuration is a key parameter influencing interaction outcomes, offering a new dimension for control and design.
  • The findings support the development of more effective snake robot manipulation strategies by understanding the trade-offs of added components like passive wheels.