Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

425
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
425
Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

12.5K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
12.5K
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

519
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...
519
Centroid of a Body: Problem Solving01:03

Centroid of a Body: Problem Solving

1.2K
The centroid of a body is a crucial concept in engineering and physics. Finding the centroid of a body can help determine its stability, its balance point, and even its design. In this context, consider a thin wire bent in the form of a quarter circular arc. Polar coordinates are used to calculate the centroid. The wire is first divided into small differential elements of a length equal to the radius multiplied by the differential angle.
The x-coordinates and y-coordinates of each element's...
1.2K
Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

623
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
623
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

696
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...
696

You might also read

Related Articles

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

Sort by
Same author

Data-Driven Techniques for Estimating Energy Expenditure in Wheelchair Users.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society·2025
Same author

Inter-array cabling optimization in offshore wind power plants, a new reliability indicator for radial grids.

Open research Europe·2024
Same author

Emotion Recognition from Physiological Signals Collected with a Wrist Device and Emotional Recall.

Bioengineering (Basel, Switzerland)·2023
Same author

Editorial: Multi-robot systems for space applications.

Frontiers in robotics and AI·2023
Same author

Shuffle & untangle: novel untangle methods for solving the tanglegram layout problem.

Bioinformatics advances·2023
Same author

Risk-based implementation of COLREGs for autonomous surface vehicles using deep reinforcement learning.

Neural networks : the official journal of the International Neural Network Society·2022

Related Experiment Video

Updated: Jul 26, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

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

Published on: June 10, 2020

14.0K

Improved Jacobian matrix estimation applied to snake robots.

Jostein Løwer1, Damiano Varagnolo1, Øyvind Stavdahl1

  • 1Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway.

Frontiers in Robotics and AI
|June 12, 2023
PubMed
Summary

This study introduces two Jacobian matrix estimators for snake robots, enabling obstacle-aided locomotion (OAL). The unscented Kalman filter approach is more efficient and robust than convex optimization for robot control.

Keywords:
Jacobian estimationKalman filterhyper-redundant robotssnake robotssoft robots

More Related Videos

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
09:41

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

1.6K

Related Experiment Videos

Last Updated: Jul 26, 2025

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

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

Published on: June 10, 2020

14.0K
Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
09:41

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

Published on: April 21, 2023

1.6K

Area of Science:

  • Robotics
  • Control Systems
  • Mechanical Engineering

Background:

  • Snake robots offer unique locomotion capabilities in confined spaces.
  • Jacobian-based control is crucial for precise manipulator movements.
  • Obstacle-aided locomotion (OAL) leverages environmental interaction for propulsion.

Purpose of the Study:

  • To develop and evaluate Jacobian matrix estimators for constrained planar snake robots.
  • To enable Jacobian-based obstacle-aided locomotion (OAL) control schemes.
  • To compare the performance of convex optimization and unscented Kalman filter approaches.

Main Methods:

  • Developed two novel manipulator Jacobian matrix estimators.
  • Adapted a convex optimization method from soft robotics research.
  • Utilized an unscented Kalman filter approach.
  • Evaluated estimators via simulations, assessing statistical performance, execution times, and noise robustness.

Main Results:

  • Both estimators provide useful Jacobian matrix estimates for predicting end-effector movements.
  • The unscented Kalman filter approach demonstrated significantly lower computational resource requirements.
  • The unscented Kalman filter method avoided convergence issues associated with the convex optimization approach.
  • Both methods showed robustness to measurement noise.

Conclusions:

  • The developed Jacobian estimators are effective for constrained planar snake robots.
  • The unscented Kalman filter estimator is computationally efficient and robust for OAL.
  • These estimators have potential applications in soft robotics, visual servoing, and general non-planar snake robots.