{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:29:02Z","timestamp":1760149742787,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,9,4]],"date-time":"2023-09-04T00:00:00Z","timestamp":1693785600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["226-2022-00016","SKLoFP_ZZ_2106","2022YFC3802300"],"award-info":[{"award-number":["226-2022-00016","SKLoFP_ZZ_2106","2022YFC3802300"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"State Key Laboratory of Fluid Power and Mechatronic Systems Independent Project","award":["226-2022-00016","SKLoFP_ZZ_2106","2022YFC3802300"],"award-info":[{"award-number":["226-2022-00016","SKLoFP_ZZ_2106","2022YFC3802300"]}]},{"name":"National Key R&amp;D Program of China","award":["226-2022-00016","SKLoFP_ZZ_2106","2022YFC3802300"],"award-info":[{"award-number":["226-2022-00016","SKLoFP_ZZ_2106","2022YFC3802300"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Snake-like robots, which have high degrees of freedom and flexibility, can effectively perform an obstacle avoidance motion in a narrow and unstructured space to complete assignments efficiently. However, accurate closed-loop control is difficult to achieve. On the one hand, this is because adding too many sensors to the robot will significantly increase its mass, size, and cost. On the other hand, the more complex structure of the hyper-redundant robot also challenges the more elaborate closed-loop control strategy. For these reasons, a cable-driven snake-like robot, which is compact and low cost, with force transducers and angle sensors, is designed in this article. The simpler and more direct kinematic model is studied, which applies to a widely used kinematics algorithm. Based on the kinematic model, the inverse dynamics are resolved. Finally, this article analyzes the sources of the motion errors and achieves dual-loop control through force-feedback and pose-feedback. The experiment results show that the robot\u2019s structure and dual-loop control strategy function with high accuracy and reliability, meeting the requirements of engineering applications and high-precision control.<\/jats:p>","DOI":"10.3390\/robotics12050126","type":"journal-article","created":{"date-parts":[[2023,9,4]],"date-time":"2023-09-04T10:14:11Z","timestamp":1693822451000},"page":"126","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Dual-Loop Control of Cable-Driven Snake-like Robots"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3802-7204","authenticated-orcid":false,"given":"Xiantong","family":"Xu","sequence":"first","affiliation":[{"name":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Chengzhen","family":"Wang","sequence":"additional","affiliation":[{"name":"China Railway Engineering Equipment Group Co., Zhengzhou 450016, China"}]},{"given":"Haibo","family":"Xie","sequence":"additional","affiliation":[{"name":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Cheng","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"}]},{"given":"Huayong","family":"Yang","sequence":"additional","affiliation":[{"name":"State Key Lab of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,4]]},"reference":[{"key":"ref_1","unstructured":"Chirikjian, G.S., and Burdick, J.W. (1990, January 13\u201318). An obstacle avoidance algorithm for hyper-redundant manipulators. Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"930","DOI":"10.1109\/TMECH.2020.3013658","article-title":"A hybrid active and passive cable-driven segmented redundant manipulator: Design, kinematics, and planning","volume":"26","author":"Liu","year":"2021","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"989","DOI":"10.1109\/LRA.2019.2893610","article-title":"Comparison of modeling approaches for a tendon actuated continuum robot with three extensible segments","volume":"4","author":"Chikhaoui","year":"2019","journal-title":"IEEE Robot. Automat. Lett."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"500","DOI":"10.1089\/soro.2019.0070","article-title":"Soft rod-climbing robot inspired by winding locomotion of snake","volume":"7","author":"Liao","year":"2020","journal-title":"Soft Robot."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1002\/rob.10070","article-title":"Kinematics and the implementation of an elephant\u2019s trunk manipulator and other continuum style robots","volume":"20","author":"Hannan","year":"2003","journal-title":"J. Robot. Syst."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"501","DOI":"10.1109\/TMECH.2021.3067335","article-title":"Cable-movable rolling joint to expand workspace under high external load in a hyper-redundant manipulator","volume":"27","author":"Kim","year":"2022","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1261","DOI":"10.1109\/TRO.2015.2489500","article-title":"Continuum robots for medical applications: A survey","volume":"31","author":"Rucker","year":"2015","journal-title":"IEEE Trans. Robot."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1226","DOI":"10.1109\/TMECH.2018.2818442","article-title":"Development of a novel continuum robotic system for maxillary sinus surgery","volume":"23","author":"Hong","year":"2018","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"2133","DOI":"10.1109\/TMECH.2014.2364625","article-title":"Development of the SJTU unfoldable robotic system (SURS) for single port laparoscopy","volume":"20","author":"Xu","year":"2015","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"6","DOI":"10.1108\/01439911211192448","article-title":"Nuclear snake-arm robots","volume":"39","author":"Buckingham","year":"2012","journal-title":"Ind. Rob."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Tonapi, M.M., Godage, I.S., and Walker, I.D. (2014, January 1\u20138). Next generation rope-like robot for in-space inspection. Proceedings of the 2014 IEEE Aerospace Conference, Big Sky, MT, USA.","DOI":"10.1109\/AERO.2014.6836183"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Chavan, P., Murugan, M., Unnikkannan, E.V., Singh, A., and Phadatare, P. (2015, January 26\u201327). Modular snake robot with mapping and navigation: Urban search and rescue robot. Proceedings of the 2015 International Conference on Computing Communication Control and Automation, Pune, India.","DOI":"10.1109\/ICCUBEA.2015.110"},{"key":"ref_13","unstructured":"Tsukagoshi, H., Kitagawa, A., and Segawa, M. (2001, January 21\u201326). Active hose: An artificial elephant\u2019s nose with maneuverability for rescue operation. Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Republic of Korea."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1002\/rob.4620080207","article-title":"Inverse kinematics of variable-geometry truss manipulators","volume":"8","author":"Naccarato","year":"1991","journal-title":"J. Robot. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"580","DOI":"10.1115\/1.2917047","article-title":"A geometric approach to hyper-redundant manipulator obstacle avoidance","volume":"114","author":"Chirikjian","year":"1992","journal-title":"J. Mech. Des."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1109\/70.294209","article-title":"A modal approach to hyper-redundant manipulator kinematics","volume":"10","author":"Chirikjian","year":"1994","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"172988141987463","DOI":"10.1177\/1729881419874638","article-title":"A geometric approach for follow-the-leader motion of serpentine manipulator","volume":"16","author":"Xie","year":"2019","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"454","DOI":"10.1016\/j.mechmachtheory.2009.10.005","article-title":"A real-time algorithm for simulation of flexible objects and hyper-redundant manipulators","volume":"45","author":"Sreenivasan","year":"2010","journal-title":"Mech. Mach. Theory"},{"key":"ref_19","first-page":"243","article-title":"FABRIK: A fast, iterative solver for the Inverse Kinematics problem","volume":"73","author":"Aristidou","year":"2011","journal-title":"J. Robot. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"624","DOI":"10.1109\/JRA.1987.1087147","article-title":"Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics","volume":"3","author":"Rodriguez","year":"1987","journal-title":"IEEE J. Rob. Autom."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1483","DOI":"10.1109\/TRO.2015.2496826","article-title":"Dynamic modeling of bellows-actuated continuum robots using the Euler\u2013Lagrange formalism","volume":"31","author":"Falkenhahn","year":"2015","journal-title":"IEEE Trans. Robot."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"923","DOI":"10.1177\/0278364921997167","article-title":"Closed-loop control of soft continuum manipulators under tip follower actuation","volume":"40","author":"Campisano","year":"2021","journal-title":"Int. J. Robot. Res."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"1693","DOI":"10.1109\/TMECH.2018.2842141","article-title":"Kinematics, dynamics, and control of a cable-driven hyper-redundant manipulator","volume":"23","author":"Xu","year":"2018","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Li, W., Huang, X., Yan, L., Cheng, H., Liang, B., and Xu, W. (2023). Force sensing and compliance control for a cable-driven redundant manipulator. IEEE\/ASME Trans. Mechatron., 1\u201312.","DOI":"10.1109\/TMECH.2023.3263922"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Tran, L.D., Zhang, Z., Yeo, S.H., Sun, Y.C., and Yang, G.L. (2011, January 20\u201321). Control of a cable-driven 2-DOF joint module with a flexible backbone. Proceedings of the IEEE Conference on Sustainable Utilization and Development in Engineering and Technology (STUDENT), Semenyih, Malaysia.","DOI":"10.1109\/STUDENT.2011.6089343"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1016\/j.cmpb.2015.03.001","article-title":"Modeling and motion compensation of a bidirectional tendon-sheath actuated system for robotic endoscopic surgery","volume":"119","author":"Sun","year":"2015","journal-title":"Comput. Methods Programs Biomed."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Tang, J., Zhang, Y., Huang, F., Li, J., Chen, Z., Song, W., Zhu, S., and Gu, J. (2019). Design and kinematic control of the cable-driven hyper-redundant manipulator for potential underwater applications. Appl. Sci., 9.","DOI":"10.3390\/app9061142"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"372","DOI":"10.1109\/TRO.2016.2527047","article-title":"Steering of multisegment continuum manipulators using rigid-link modeling and FBG-based shape sensing","volume":"32","author":"Roesthuis","year":"2016","journal-title":"IEEE Trans. Robot."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1319","DOI":"10.1109\/TRO.2009.2032965","article-title":"Exoskeletal force-sensing end-effectors with embedded optical fiber-Bragg-grating sensors","volume":"25","author":"Park","year":"2009","journal-title":"IEEE Trans. Robot."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"422","DOI":"10.1177\/0278364915584806","article-title":"Hybrid motion\/force control of multi-backbone continuum robots","volume":"35","author":"Bajo","year":"2016","journal-title":"Int. J. Robot. Res."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Xu, X., Xie, H., Wang, C., and Yang, H. (2023). Kinematic and dynamic models of hyper -redundant manipulator based on link eigenvectors. IEEE\/ASME Trans. Mechatron., 1\u201313.","DOI":"10.1109\/TMECH.2023.3302853"}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/5\/126\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T20:46:24Z","timestamp":1760129184000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/5\/126"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,9,4]]},"references-count":31,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2023,10]]}},"alternative-id":["robotics12050126"],"URL":"https:\/\/doi.org\/10.3390\/robotics12050126","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2023,9,4]]}}}