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dc.contributor.authorVirgala, Ivan
dc.contributor.authorKelemen, Michal
dc.contributor.authorBožek, Pavol
dc.contributor.authorBobovský, Zdenko
dc.contributor.authorHagara, Martin
dc.contributor.authorPrada, Erik
dc.contributor.authorOščádal, Petr
dc.contributor.authorVarga, Martin
dc.date.accessioned2020-10-01T10:17:36Z
dc.date.available2020-10-01T10:17:36Z
dc.date.issued2020
dc.identifier.citationSymmetry. 2020, vol. 12, issue 6, art. no. 939.cs
dc.identifier.issn2073-8994
dc.identifier.urihttp://hdl.handle.net/10084/141825
dc.description.abstractThis paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.cs
dc.language.isoencs
dc.publisherMDPIcs
dc.relation.ispartofseriesSymmetrycs
dc.relation.urihttp://doi.org/10.3390/sym12060939cs
dc.rights© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.cs
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/cs
dc.subjectconcertinacs
dc.subjectfrictioncs
dc.subjectlocomotioncs
dc.subjectpipecs
dc.subjectsnake robotcs
dc.titleInvestigation of snake robot locomotion possibilities in a pipecs
dc.typearticlecs
dc.identifier.doi10.3390/sym12060939
dc.rights.accessopenAccesscs
dc.type.versionpublishedVersioncs
dc.type.statusPeer-reviewedcs
dc.description.sourceWeb of Sciencecs
dc.description.volume12cs
dc.description.issue6cs
dc.description.firstpageart. no. 939cs
dc.identifier.wos000550813800001


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© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.
Except where otherwise noted, this item's license is described as © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.