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Keywords = bionic tracked rescue robot

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21 pages, 1125 KB  
Review
A Review on the Recent Development of Planar Snake Robot Control and Guidance
by Ningwei Li, Fei Wang, Shanjun Ren, Xin Cheng, Gang Wang and Peng Li
Mathematics 2025, 13(2), 189; https://doi.org/10.3390/math13020189 - 8 Jan 2025
Cited by 6 | Viewed by 5381
Abstract
Snake robots, inspired by the biology of snakes, are bionic robots with multiple degrees of freedom and strong robustness. These robots represent a current area of significant research interest within the field of robotics. Snake robots have a wide range of applications in [...] Read more.
Snake robots, inspired by the biology of snakes, are bionic robots with multiple degrees of freedom and strong robustness. These robots represent a current area of significant research interest within the field of robotics. Snake robots have a wide range of applications in many fields, advancing the integration of bionics, robotics, and cybernetics, while playing a crucial role in performing survey and rescue missions. This survey presents the latest technological advancements in modeling, motion control, and guidance laws for planar snake robots, and provides a unified perspective based on the existing results. To achieve target-tracking control of robots in complex environments, we present a feasible approach that integrates guided vector field technology and transforms the target-tracking and obstacle avoidance problem into a reference angle tracking issue. Finally, this paper analyzes and summarizes the development process and key technologies of snake robot control and provides an outlook on future development trends. Full article
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16 pages, 5112 KB  
Article
Obstacle Modeling and Structural Optimization of Four-Track Twin-Rocker Rescue Robot
by Xiaobin Xu, Wen Wang, Guangyu Su, Cong Liu, Wei Cai, Haojie Zhang, Yingying Ran, Zhiying Tan and Minzhou Luo
Machines 2022, 10(5), 365; https://doi.org/10.3390/machines10050365 - 10 May 2022
Cited by 12 | Viewed by 4572
Abstract
In order to achieve the best obstacle surmounting performance of a mobile robot in the rescue environment, a four-track twin-rocker bionic rescue robot with an inner and outer concentric shaft was designed in this paper. From the viewpoint of dynamics, the motion process [...] Read more.
In order to achieve the best obstacle surmounting performance of a mobile robot in the rescue environment, a four-track twin-rocker bionic rescue robot with an inner and outer concentric shaft was designed in this paper. From the viewpoint of dynamics, the motion process of the mass center of the robot when climbing steps forward and backward was studied. The maximum obstacle height of the robot was calculated. The relationship between the elevation angle of the car body, the swing angle of the rocker arm and the height of the steps was analyzed by simulation. The simulation results show that the maximum forward and reverse obstacle crossing heights were 92.99 mm and 155.82 mm, respectively. Obstacle climbing experiments of the designed robot prototype were carried out. It was found that the measured maximum height of the step was 95 mm, and the measured maximum height of the reverse obstacle was 165 mm. Finally, bionic particle swarm optimization was used to optimize the structural parameters of the rocker arm with an optimal length of 315.2 mm. The study of this paper can be referenced for the design and analysis of obstacle surmounting rescue robots with similar structures. Full article
(This article belongs to the Special Issue Bio-Inspired Smart Machines: Structure, Mechanisms and Applications)
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