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Volume 24
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10.3390/s24134424
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Visual-Aided Obstacle Climbing by Modular Snake Robot †

by
Carla Cavalcante Koike
1,*,
Dianne Magalhães Viana
2,
Jones Yudi
2,
Filipe Aziz Batista
3,
Arthur Costa
3,
Vinícius Carvalho
2 and
Thiago Rocha
2
1
Department of Computer Science, University of Brasília, Brasília 70.910-900, Brazil
2
Department of Mechanical Engineering, University of Brasília, Brasília 70.910-900, Brazil
3
Mechatronics Graduate Programme, University of Brasília, Brasília 70.910-900, Brazil
*
Author to whom correspondence should be addressed.
†
This paper is an extended version of the paper published in proceedings of — 26th International Conference Series on Climbing and Walking Robots— http://dx.doi.org/10.1007/978-3-031-47272-5_34
Sensors 2024, 24(13), 4424; https://doi.org/10.3390/s24134424
Submission received: 1 May 2024 / Revised: 4 June 2024 / Accepted: 11 June 2024 / Published: 8 July 2024
(This article belongs to the Special Issue Latest Advances on Sensors and Perception for Climbing and Walking Robots)
Versions Notes

Abstract

Snake robots, also known as apodal robots, are among the most common and versatile modular robots. Primarily due to their ability to move in different patterns, they can evolve in scenarios with several constraints, some of them hardly accessible to other robot configurations. This paper deals with a specific environment constraint where the robot needs to climb a prismatic obstacle, similar to a step. The objective is to carry out simulations of this function, before implementing it in the physical model. To this end, we propose two different algorithms, parameterized by the obstacle dimensions determined by image processing, and both are evaluated in simulated experiments. The results show that both algorithms are viable for testing in real robots, although more complex scenarios still need to be further studied.
Keywords: snake robots; climbing robots; image-guided locomotion snake robots; climbing robots; image-guided locomotion

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MDPI and ACS Style

Koike, C.C.; Viana, D.M.; Yudi, J.; Batista, F.A.; Costa, A.; Carvalho, V.; Rocha, T. Visual-Aided Obstacle Climbing by Modular Snake Robot. Sensors 2024, 24, 4424. https://doi.org/10.3390/s24134424

AMA Style

Koike CC, Viana DM, Yudi J, Batista FA, Costa A, Carvalho V, Rocha T. Visual-Aided Obstacle Climbing by Modular Snake Robot. Sensors. 2024; 24(13):4424. https://doi.org/10.3390/s24134424

Chicago/Turabian Style

Koike, Carla Cavalcante, Dianne Magalhães Viana, Jones Yudi, Filipe Aziz Batista, Arthur Costa, Vinícius Carvalho, and Thiago Rocha. 2024. "Visual-Aided Obstacle Climbing by Modular Snake Robot" Sensors 24, no. 13: 4424. https://doi.org/10.3390/s24134424

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