Hareesh Chitikena

• Chitikena, Hareesh; Gravdahl, Irja; Pettersen, Kristin Ytterstad; Mohammadi, Alireza; Sanfilippo, Filippo & Stavdahl, Øyvind [Show all 7 contributors for this article] (2024). Adaptive manoeuvring control for planar snake robots in uncertain friction environments. In NN, . (Eds.), American Control Conference. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9798350382655. p. 2844–2850. doi: 10.23919/ACC60939.2024.10644564. Full text in Research Archive Show summary

  The locomotion dynamics of a snake robot are greatly influenced by the way it interacts with its surroundings, particularly in terms of friction. Given the variable frictional characteristics of the environments in which holonomic snake robots locomote, this paper introduces a novel friction-adaptive body-shape controller that dynamically adjusts the robot's locomotion parameters in response to changes in friction. One of this paper's contributions is based on deriving a novel linear regression-based representation of the ground friction forces acting on the snake robot, which results in coupled dynamics between the gait tracking and friction parameter estimation errors. Using these coupled dynamics and our proposed friction adaptation law, we prove practical stability of the gait tracking and friction parameter estimation errors in the general case, as well as asymptotic convergence of the gait tracking errors and boundedness of the friction parameter estimation errors in a special case. Simulation results show that the proposed controller is stable and that the gait tracking error and friction parameter estimation errors are converging and bounded.

• Chitikena, Hareesh; Mohammadi, Alireza; Sanfilippo, Filippo & Poursina, Mohammad (2024). Anisotropic Friction Skin for Holonomic Snake Robot Mobility. In NN, . (Eds.), IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2024). Institute of Electrical and Electronics Engineers (IEEE). ISSN 9798350344646. p. 222–227. doi: 10.1109/ARSO60199.2024.10557914. Full text in Research Archive Show summary

  Achieving effective locomotion for holonomic snake robots in diverse terrains for Search and Rescue (SAR) poses a significant challenge. While biological snakes exhibit complex mobility with the aid of anisotropic skin and a flexible body, replicating such capabilities in robotic systems demands specialised design considerations. This paper addresses designing and analysing anisotropic frictional skin to enhance the locomotion of holonomic snake robots in flat, variably friction environments. Two distinct frictional skins are developed and analysed through a peristaltic dynamic model. Moreover, comprehensive testing is conducted on various substrates to assess the effectiveness of the designed snakeskins. Experimental results indicate that a snake robot equipped with an interlocking-based skin on an Expanded Polystyrene substrate achieves small forward locomotion, while a Molecular Interaction-based skin enables sideways motion. This study provides insights into preliminary skin designs and locomotion tests conducted on flat surfaces, emphasising the need for further refinement to meet the demands of SAR applications.

• Chitikena, Hareesh; Sanfilippo, Filippo & Ma, Shugen (2023). Robotics in Search and Rescue (SAR) Operations: An Ethical and Design Perspective Framework for Response Phase. Applied Sciences. 13(3). doi: 10.3390/app13031800. Full text in Research Archive Show summary

  Every year, especially in urban areas, the population density rises quickly. The effects of catastrophes (i.e., war, earthquake, fire, tsunami) on people are therefore significant and grave. Assisting the impacted people will soon involve human-robot Search and Rescue (SAR) operations. Therefore, it is crucial to connect contemporary technology (i.e., robots and cognitive approaches) to SAR to save human lives. However, these operations also call for careful consideration of several factors, including safety, severity, and resources. Hence, ethical issues with technologies in SAR must be taken into consideration at the development stage. In this study, the most relevant ethical and design issues that arise when using robotic and cognitive technology in SAR are discussed with a focus on the response phase. Among the vast variety of SAR robots that are available nowadays, snake robots have shown huge potential; as they could be fitted with sensors and used for transporting tools to hazardous or confined areas that other robots and humans are unable to access. With this perspective, particular emphasis has been put on snake robotics in this study by considering ethical and design issues. This endeavour will contribute to providing a broader knowledge of ethical and technological factors that must be taken into account throughout the design and development of snake robots.

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