Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Three-Dimensional Force System:Problem Solving

Three-Dimensional Force System:Problem Solving

A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...

Method of Joints: Problem Solving II

Method of Joints: Problem Solving II

Consider a truss structure with frictionless joints fixed to a wall and roller support. If a force of 150 N is applied to joint A, the forces in each member of the truss can be determined using the method of joints.

One-Degree-of-Freedom System

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...

Method of Joints: Problem Solving I

Method of Joints: Problem Solving I

The method of joints is a commonly used technique to analyze the forces in structural trusses. The method is based on the principle of equilibrium, which assumes that the truss members are connected by frictionless pins. The forces at each joint can be determined by considering the equilibrium of the forces acting on that joint. Consider a truss structure with two forces of 20 N and 10 N acting at joints C and D, respectively. The method of joints can be used to determine the forces FCB, FDC,...

Hydraulic Jump: Problem Solving

Hydraulic Jump: Problem Solving

To analyze a hydraulic jump in a rectangular channel with a flow speed of 6 meters per second, follow these steps:Calculate Effective Upstream Velocity:When the downstream gate closes, a hydraulic jump forms, traveling upstream at 2 meters per second. This wave speed combines with the initial channel flow velocity, creating an effective upstream velocity.Identify Flow Velocities Before and After the Hydraulic Jump:Upstream of the hydraulic jump, the effective flow velocity includes both the...

Hierarchy of Motor Control

Hierarchy of Motor Control

The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Quadratus lumborum muscle strain in a youth soccer player: a case report.

Radiology case reports·2022

Same author

Filamin B Enhances the Invasiveness of Cancer Cells into 3D Collagen Matrices.

Cell structure and function·2015

See all related articles

Search research articles

Related Experiment Video

Updated: Sep 5, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Step Climbing Control of Snake Robot with Prismatic Joints.

Yuta Iguchi¹, Mizuki Nakajima¹, Ryo Ariizumi²

¹Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Chofu 182-8585, Japan.

Sensors (Basel, Switzerland)

|July 9, 2022

Summary

This study introduces a new control method for snake robots to climb steps effectively using continuous prismatic joint movements. The method ensures stable climbing by controlling link length and avoiding singularities, enhancing robotic locomotion in complex terrains.

Keywords:

linear joints prismatic joints redundancy snake robot step climbing

More Related Videos

Operation of the Collaborative Composite Manufacturing CCM System

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

Published on: November 24, 2015

Related Experiment Videos

Last Updated: Sep 5, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Operation of the Collaborative Composite Manufacturing CCM System

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

Published on: November 24, 2015

Area of Science:

Robotics
Control Systems
Mechanical Engineering

Background:

Snake robots offer unique locomotion capabilities for complex environments.
Sequential joint movements can limit efficiency and stability during locomotion tasks like step climbing.
Controlling prismatic joints in multi-DOF robots presents challenges in avoiding singularities and ensuring stable motion.

Purpose of the Study:

To develop and validate a control method for continuous prismatic joint movements in snake robots for effective step climbing.
To enhance the stability and efficiency of snake robot locomotion in complex terrains.
To prevent trailing part back-motion and avoid singular configurations during step climbing maneuvers.

Main Methods:

A two-part control method comprising a shift reference generator and a trajectory tracking controller.
Dividing prismatic joints into directly controlled and redundant groups for optimized motion control.
Implementing link length control using a sigmoid function to manage joint behavior.

Main Results:

Demonstrated effective step climbing capability of the developed 3D snake robot.
Validated the proposed control method's effectiveness through experimental trials.
Confirmed that sigmoid function-based link length limitation successfully prevents undesirable joint configurations and motion.

Conclusions:

The proposed control method enables continuous prismatic joint movements for stable and effective robotic step climbing.
Directly controlling link length is crucial for preventing back-motion and singularities in redundant joint configurations.
The developed snake robot and control strategy show significant promise for navigating complex terrains.