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Energy-efficient Locomotion of Elastic Snake Robots

Ehlert, Tristan Hagen (2023) Energy-efficient Locomotion of Elastic Snake Robots. Master's, Technische Universität München.

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Inspired by nature, elasticities and natural dynamics can be used to improve the locomotion efficiency of robotic systems. Advances in nonlinear normal mode theory have recently provided a new way to characterize natural dynamics in nonlinear robotic systems. Snake-like robots are nonlinear systems that can locomote without the need for hybrid dynamics. This allows easier analysis of their natural dynamics. This thesis investigates if and how the natural dynamics of a kinematic elastic snake robot can be used to design efficient gaits. Two approaches to design gaits based on natural dynamics are presented and compared to elliptical gaits from literature using dynamic simulations and hardware experiments with a self-designed modular snake robot. For gaits generated by switching between two nonlinear normal modes, the simulations show that they do not improve the locomotion efficiency of the robot. Gaits based on non-braking periodic trajectories are ideally efficient in theory, but in the hardware experiments they also do not improve the locomotion efficiency compared to the elliptical gaits. Nevertheless, the investigation reveals promising insights into the design of efficient gaits based on natural dynamics, which will improve further research in this field.

Item URL in elib:https://elib.dlr.de/194324/
Document Type:Thesis (Master's)
Title:Energy-efficient Locomotion of Elastic Snake Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ehlert, Tristan HagenDLRhttps://orcid.org/0009-0002-3626-6364144563875
Date:15 February 2023
Refereed publication:No
Open Access:No
Keywords:Nonlinear Dynamics, Snake Robots, Locomotion, Robotics, Bionics, Energy-Efficiency
Institution:Technische Universität München
Department:School of Engineering and Design
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Sachtler, Arne
Deposited On:13 Apr 2023 08:19
Last Modified:16 Oct 2023 22:56

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