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Rollinson D., Bilgen Y., Brown B., Enner F., Ford S., Layton C., Rembisz J., Schwerin M., Willig A., Velagapudi P., and Choset H., “ Design and architecture of a series elastic snake robot,” in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, Sept 2014, pp. and Choset H., “ Gait-based compliant control for snake robots,” in Robotics and Automation (ICRA), 2013 IEEE International Conference on, May 2013, pp. Liljeback P., Pettersen K., Stavdahl O., and Gravdahl J., “ Compliant control of the body shape of snake robots,” in Robotics and Automation (ICRA), 2014 IEEE International Conference on, May 2014, pp. Melo K., Hernandez M., and Gonzalez D., “ Parameterized Space Conditions for the Definition of Locomotion Modes in Modular Snake Robots,” in Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on, 2012, pp. Melo K., Paez L., and Parra C., “ Indoor and outdoor parametrized gait execution with modular snake robots,” in Robotics and Automation (ICRA), 2012 IEEE International Conference on, May 2012, pp. Rollinson D., Alwala K., Zevallos N., and Choset H., “ Torque control strategies for snake robots,” in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, Sept 2014, pp. Baba T., Kameyama Y., Kamegawa T., and Gofuku A., “ A snake robot propelling inside of a pipe with helical rolling motion,” in SICE Annual Conference 2010, Proceedings of, Aug 2010, pp. Enner F., Rollinson D., and Choset H., “ Motion estimation of snake robots in straight pipes,” in Robotics and Automation (ICRA), 2013 IEEE International Conference on, May 2013, pp. Paez L., Melo K., and Parra C., “ Center of mass displacements using rolling gaits for modular robots on the outside of pipes,” in Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC), Oct. Zhen W., Gong C., and Choset H., “ Modeling rolling gaits of a snake robot,” in Robotics and Automation (ICRA), 2015 IEEE International Conference on, May 2015, pp. Rollinson D., Buchan A., and Choset H., “ Virtual chassis for snake robots: Definition and applications,” Advanced Robotics, vol. Rollinson D., Buchan A., and Choset H., “ State estimation for snake robots,” in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, Sept 2011, pp. and Paez L., “ Experimental determination of control parameter intervals for repeatable gaits in modular snake robots,” in Safety, Security, and Rescue Robotics (SSRR), 2014 IEEE International Symposium on, Oct 2014, pp. L., Peck A., Rembisz J., and Choset H., “ Parameterized and Scripted Gaits for Modular Snake Robots,” Advanced Robotics, vol. and Paez L., “ Modular snake robot gaits on horizontal pipes,” in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Oct 2012, pp. Onosato M., Yamamoto S., Kawajiri M., and Tanaka F., “ Digital gareki archives: An approach to know more about collapsed houses for supporting search and rescue activities,” in Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium on, Nov 2012, pp. Our results show that providing a good selection of body compliant elements is a way to maintain high locomotion performance (at least while rolling on pipes) without including additional complex control artifacts to the simple open-loop cyclic gait controller. We evaluated the performance across different robot's body-compliance values, measuring the speed of locomotion as well as the power consumption. To validate our results we performed experiments with compliant modular snake robots rolling on pipes with different geometry characteristics such as different diameters, smooth surfaces, surfaces with presence of obstacles (terrain bumps), and considerable changes in diameter in a single robot run. The gait control remains simple by acting directly in the robot's joint space with known gait generation schemes. In our proposal, we incorporate compliant elements in a modular snake robot structure to passively adapt the robot's shape to the environment. Several attempts to reproduce such behaviors in snake robots range from compliant shape controllers (acting in joint space) to torque control strategies of elastic actuated joints. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better performances than a simple pre-programmed stiff motion without feedback. In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. What to do if there are Empire Z: Endless War issues with iOS 14.x In many cases it is very helpful to restart the device in order to be able to fix some errors or issues. But of course this only works if it is a bug in the app and not because of your system.īasically it is advisable to always make sure to install the latest Empire Z: Endless War update on your smartphone. Of course, the developer Ember Entertainment is trying to fix this. Those were the Empire Z: Endless War problems mentioned to us most frequently since iOS 14. 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