A survey of snake-inspired robot designs

Hopkins, James K.; Spranklin, Brent W.; Gupta, Satyandra K.

doi:10.1088/1748-3182/4/2/021001

Cited by 148 publications

(98 citation statements)

References 38 publications

(56 reference statements)

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“…It can be seen that the front plate stays in its place while the back plate moves forward, hence the front segments has to contract according to (1). To maintain the same direction, the angle of the fourth and third segments has to adjust their angle according to (2) and (3). The same calculation applies to the next two segments at the back.…”

Section: Linear Expansion Rectilinear Gaitmentioning

confidence: 99%

“…The first segment has to expand by the same amount as the third segment while the second segment has to contract according to (1). The two back segments also have to adjust their angles according to (2) and (3). When it is the turn for the fourth (head) segment to move forward, it can freely choose its heading angle.…”

Section: Linear Expansion Rectilinear Gaitmentioning

confidence: 99%

“…When it is the turn for the fourth (head) segment to move forward, it can freely choose its heading angle. At the next step the other segments has to calculate their angles according to (2) and (3) to slither smoothly. …”

Section: Linear Expansion Rectilinear Gaitmentioning

confidence: 99%

“…Its long shaped body allow it to climb much higher than its height and to move over crevices. The large number of segments of the a robot also makes it more reliable in dealing with failing segments [2].…”

Section: Introductionmentioning

confidence: 99%

“…The rectilinear progression makes use of the scales on belly of the snake to pull its body forward [2]. This gait only need the snake to lift its body slightly in order to place its belly forward, hence its best for movement in space-confined voids.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Serpentine Robot Model and Gait Design Using Autodesk Inventor and Simulink SimMechanics

Alamsyah¹,

Erwin²,

Shi³

2014

EPJ Web of Conferences

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Abstract. The authors introduce gaits of a serpentine robot with linear expansion mechanism where the robot varies its length using joints with three degrees of freedom. The 3D model of the serpentine robot is drawed in Autocad Inventor ® and exported to SimMechanics ® for straighforward modeling of the kinematics. The gaits are important for robots designed to explore ruins of disasters where the working spaces are very tight. For maximum flexibility of the serpentine robot, we adopted a joint design with three parallel actuators, where the joint is capable of linear movement in the forward axis, and rotational movements around two other axes. The designed linear expansion gaits is calculated for forward movement when the robot is posing straight or turning laterally.

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Section: Linear Expansion Rectilinear Gaitmentioning

confidence: 99%

Section: Linear Expansion Rectilinear Gaitmentioning

confidence: 99%

Section: Linear Expansion Rectilinear Gaitmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Serpentine Robot Model and Gait Design Using Autodesk Inventor and Simulink SimMechanics

Alamsyah¹,

Erwin²,

Shi³

2014

EPJ Web of Conferences

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Systematic Methodology for an Optimized Design of Shape Memory Alloy‐Driven Continuum Robots

Goergen,

Rizzello,

Motzki

2023

Adv Eng Mater

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Continuum robots stand out due to their high dexterity, which allows them to effectively navigate in confined spaces and dynamic environments. At present, motor‐controlled tendons represent the most prominent actuation method used in continuum robots which require large drive units, increasing the overall system size and weight. A potential alternative technology to overcome those limitations is represented by shape memory alloy (SMA) wire actuators, which are characterized by extremely high energy density and flexibility, leading to a reduction of the size, weight, and design complexity of continuum robots. The complex thermomechanical behavior of SMA wires, however, makes the design of SMA‐based applications a challenging task, and systematic approaches to design SMA‐driven continuum robots are poorly understood. To overcome this issue, this article presents a novel systematic methodology for designing SMA‐driven continuum robots capable of motion in a three‐dimensional environment. First, the kinematic relationship between SMA wires and continuum robot deformation as well as the required actuator force in quasi‐static conditions, is mathematically described based on the assumption of a constant curvature deformation. Subsequently, the model is validated by in‐plane experiments for different design parameters. Based on the results, a fully integrated, antagonistic SMA continuum robot is built and validated.

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Visual servoing of continuum robots: Methods, challenges, and prospects

Nazari

Zareinia

Janabi–Sharifi

2022

Robotics Computer Surgery

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Background Recent advancements in continuum robotics have accentuated developing efficient and stable controllers to handle shape deformation and compliance. The control of continuum robots (CRs) using physical sensors attached to the robot, particularly in confined spaces, is difficult due to their limited accuracy in three‐dimensional deflections and challenging localisation. Therefore, using non‐contact imaging sensors finds noticeable importance, particularly in medical scenarios. Accordingly, given the need for direct control of the robot tip and notable uncertainties in the kinematics and dynamics of CRs, many papers have focussed on the visual servoing (VS) of CRs in recent years. Methods The significance of this research towards safe human‐robot interaction has fuelled our survey on the previous methods, current challenges, and future opportunities. Results Beginning with actuation modalities and modelling approaches, the paper investigates VS methods in medical and non‐medical scenarios. Conclusions Finally, challenges and prospects of VS for CRs are discussed, followed by concluding remarks.

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A survey of snake-inspired robot designs

Cited by 148 publications

References 38 publications

Serpentine Robot Model and Gait Design Using Autodesk Inventor and Simulink SimMechanics

Serpentine Robot Model and Gait Design Using Autodesk Inventor and Simulink SimMechanics

Systematic Methodology for an Optimized Design of Shape Memory Alloy‐Driven Continuum Robots

Visual servoing of continuum robots: Methods, challenges, and prospects

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