Complementary Methods to Acquire the Kinematics of Swimming Snakes: A Basis to Design Bio-inspired Robots

Gautreau, Elie; Bonnet, Xavier; Fox, Tom; Fosseries, Guillaume; Valle, Valéry; Herrel, Anthony; Laribi, Med Amine

doi:10.1007/s42235-022-00291-0

Cited by 10 publications

(10 citation statements)

References 31 publications

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“…Step 2 : The geometric shape was sized according to snake morphology and imposed by the limits of the technical solution envisaged. These constraints were implemented as input data regarding the number of vertebrae of biological snakes (

and the number of vertebrae of robotic snakes (

), combined with snake swimming kinematics monitored with specifically developed software [ 29 ] (Software for the Analysis of Anguilliform Swimming (SAAS)). A ratio

between

and

was defined.…”

Section: Bim: Bio-inspired Methodsmentioning

confidence: 99%

“…The goal was to produce a similar behavior, including the number of waves, wavelengths, amplitude, and frequency for identical inputs. Head transverse velocity and head amplitude were the inputs used from the swimming snake motion [ 29 , 51 ] for the following aims: (1) to evaluate how well the compliant snake body mimicked a swimming snake, and (2) to validate the design process and mechanical design by comparing the undulation of the snake robot and the inert body of the biological snake.…”

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

“…Linear axis inputs were determined through the observations made on snake undulations while swimming (see Figure 17 a,b). Anguilliform snake swimming was analyzed and described using motion capture (MoCap) and video processing analysis software [ 29 ]. In the present study, the snake motions were analyzed with MoCap using Motive ® infrared cameras with a recording frequency of 120 Hz.…”

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

“…Kinematic data were obtained from living animals swimming on a swimming raceway, thus with muscle actuation all along the body [ 29 ]. However, the 3D-printed snake body was inert and not fitted with actuators.…”

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

“…The snakes’ undulations were described and compared (see Figure 18 , Figure 19 and Figure 20 ). The ripple comparison of the resulting pattern was performed graphically by examining the ripple cone (equivalent to the swimming cone described in [ 29 ]).…”

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

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A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots

et al. 2022

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Replicating animal movements with robots provides powerful research tools because key parameters can be manipulated at will. Facing the lack of standard methods and the high complexity of biological systems, an incremental bioinspired approach is required. We followed this method to design a snake robot capable of reproducing the natural swimming gait of snakes, i.e., the lateral undulations of the whole body. Our goal was to shift away from the classical broken line design of poly-articulated snake robots to mimic the far more complex fluid movements of snakes. First, we examined the musculoskeletal systems of different snake species to extract key information, such as the flexibility or stiffness of the body. Second, we gathered the swimming kinematics of living snakes. Third, we developed a toolbox to implement the data that are relevant to technical solutions. We eventually built a prototype of an artificial body (not yet fitted with motors) that successfully reproduced the natural fluid lateral undulations of snakes when they swim. This basis is an essential step for designing realistic autonomous snake robots.

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and the number of vertebrae of robotic snakes (

), combined with snake swimming kinematics monitored with specifically developed software [ 29 ] (Software for the Analysis of Anguilliform Swimming (SAAS)). A ratio

between

and

was defined.…”

Section: Bim: Bio-inspired Methodsmentioning

confidence: 99%

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

Section: Motion Analysis and Design Validationmentioning

confidence: 99%

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A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots

et al. 2022

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Continuum Robots: An Overview

Russo

Sadati

Dong

et al. 2023

Advanced Intelligent Systems

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When thinking of robots, the image that immediately springs to mind is either an android, designed to resemble human beings and mimic their behavior, or an industrial manipulator, for example, a large machine of rigid steel working in an assembly line. However, robotic systems of multiple forms have been developed to carry out the most diverse tasks, with designs that evolved from readily available structures, such as vehicles, or inspired by nature. In the last decade, more and more bioinspired designs have been enabled by advances in computer science, materials, and manufacturing. Among them, continuum robots, inspired by snakes, trunks, and tendrils, are characterized by a compliant backbone capable of continuous bending, whose shape (configuration, i.e., position and orientation along the backbone curve) is controlled by applying loads through onboard "intrinsic" actuators (e.g., pneumatics or hydraulics) or transmission elements (e.g., tendons, rods, or compliant tubes) that are pushed/pulled from an extremity of the backbone ("extrinsic actuation"). These robots have flexible bodies with a high length to cross-section diameter ratio and are uniquely suited to tasks that require the deployment of tools or sensors with a long reach into tortuous and narrow paths. [1] Continuum robots were first developed in the 1960s [2] and rose to prominence in the late 1990s, [3] when they were often called elephant trunk, [4] tentacle/tendril, [5] or flexible [6] manipulators. Whereas other robots were characterized by intrinsic actuation and larger sizes, research on continuum robots first focused on miniaturization for medical applications, [7,8] leading to extrinsic actuation to enable leaner designs. Recently, continuum robots have been developed for a wider range of applications, including manufacturing, aerospace, search and rescue, and nuclear. In such scenarios, the infinite degrees of freedom (DoFs) of these slender robots enable inspection and intervention in areas that cannot be accessed by conventional robots (e.g., tunnels [9] and gas turbines [10] ).An exhaustive literature search (see Appendix) outlines a surging interest in continuum robots, with a 19.6% average annual growth in publications between 2012 and 2021 (continuum robot search on Web of Science). Three main topics can be observed in recent literature surveys, listed in Table 1. DesignTendon-driven and concentric tube robots are predominant in surveys, but they are not the only design solutions. [18] This richer literature can be attributed to intense research effort toward medical and other small-scale applications when compared to larger-scale tasks (e.g., manipulation) where intrinsic actuation is advantageous.

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Dynamic Modelling of a Geometrically Non-uniform Elastic Beam to Mimic Snake Swimming Undulation

Gautreau¹,

Bonnet²,

Arsicault³

et al. 2023

Mechanisms and Machine Science

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Complementary Methods to Acquire the Kinematics of Swimming Snakes: A Basis to Design Bio-inspired Robots

Cited by 10 publications

References 31 publications

A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots

A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots

Continuum Robots: An Overview

Dynamic Modelling of a Geometrically Non-uniform Elastic Beam to Mimic Snake Swimming Undulation

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