Work

Knot Tying, Hanging, and Transporting Motions of Snake Robots by Utilizing Half-Hitch Knot

Year: 2024

Type: article

Abstract: This paper proposes a hanging motion for snake robots by utilizing half-hitch knot tying, which is a type of rope work. The proposed method prevents a robot from falling off a pipe by tying it to the pipe. In addition, the robot can hang from a pipe by grasping it using the knotting part. The parts other than the knotting part can be operated arbitrarily and applied to various actions. We propose a transporting motion as one of the applications of the hanging motion. The effectiveness of the proposed motion was experimentally verified using an actual robot.

Source: Journal of Robotics and Mechatronics

DOI: 10.20965/jrm.2024.p1396

Authors: Yuki Ishikawa, Mizuki Nakajima, Motoyasu Tanaka

Institutions: University of Electro-Communications, Tokyo Denki University

Language: English

Topic: Robotic Locomotion and Control

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: Japan Society for the Promotion of Science

Award: Hyper-redundant control of snake robots utilizing adaptation and modification to variable environments