Design and Analysis of a Snake-Inspired Crawling Robot Driven by Alterable Angle Scales

Shen, Donghua; Zhang, Qi; Wang, Cunjin; Wang, Xingsong; Tian, Mengqian

doi:10.1109/lra.2021.3061379

Cited by 13 publications

(4 citation statements)

References 25 publications

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“…During swimming in water, the body's waveform characteristics differ significantly from crawling on harder media, like agar, in terms of amplitude, wavelength and speed [18,22,42,43]. Recently, the influences of the shape and orientation of scales have been explored for lateral undulatory locomotion [44][45][46]. However, according to the authors' knowledge, the characterization of body frictional and stiffness properties has never been done before.…”

Section: Discussionmentioning

confidence: 99%

Mechanics and optimization of undulatory locomotion in different environments, tuning geometry, stiffness, damping and frictional anisotropy

Yaqoob

Rodella

Dottore

et al. 2023

J. R. Soc. Interface.

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One of the oldest yet most common modalities of locomotion known among limbless animals is undulatory, also recognized for its stability compared to legged locomotion. Multiple forms of active mechanisms, e.g. active gait control, and passive mechanisms, e.g. body morphology and material properties, have adapted to different environments. The current research explores the passive role of body stiffness and internal losses in meeting terrain requirements. Furthermore, it addresses the influence of the environment on the resultant gait and how the interplay between various environments and body properties can lead to different speeds. We modelled undulatory locomotion in a dry friction environment where frictional anisotropy determines propulsion. We found that the body stiffness, the moment of inertia, the dry frictional coefficient ratio between normal and tangential frictional constants, and the internal damping of the body play an essential role in optimizing speed and animal adaptability to external conditions. Furthermore, we demonstrate that various known gaits like swimming, crawling and polychaete-like locomotion are achieved as a result of the interaction between body and environment parameters. Moreover, we validated the model by retrieving a corn snake's speed using data from the literature. This study demonstrates that the dependence between morphology, body material properties and environment can be exploited to design long-segmented robots to perform in specialized situations.

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Section: Discussionmentioning

confidence: 99%

Mechanics and optimization of undulatory locomotion in different environments, tuning geometry, stiffness, damping and frictional anisotropy

Yaqoob

Rodella

Dottore

et al. 2023

J. R. Soc. Interface.

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“…The diverse plants and animals in nature exhibit unique characteristics and adaptability against complicated and inconsistent environments. Inspired by the unique features of plants and animals in nature, researchers have developed stimuli responsive actuating soft micro-robots like fish, 1,2 snakes, 3,4 mudskippers, 5 caterpillars, 6 and water striders. 7,8 Compared to conventional rigid actuators, soft actuators are flexible, lightweight, adaptable, bio-compatible, and have mechanically strong.…”

Section: Introductionmentioning

confidence: 99%

Design and mechanism of photothermal soft actuators and their applications

Sutar,

Latthe,

et al. 2024

J. Mater. Chem. A

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“…If we look in to the nature, it can be found that snakes [2]- [4], tentacles [5]- [7], elephant trunks [8]- [11] can pass through cluttered environments to reach their targets. Their bodies are so flexible that they can bend in any direction at any point of their bodies.…”

Section: Introductionmentioning

confidence: 99%

A Study on Position Control of a Continuum Arm Using MAML (Model-Agnostic Meta-Learning) for Adapting Different Loading Conditions

Sahoo

Chakraborty

2022

IEEE Access

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Predicting tip positions of a spring based continuum manipulator is highly challenging due to its nonlinear deformations. External loading on the tip further deteriorates the accuracy. Model-less control has shown great success in the tip positioning. However, the model less control strategies require a large data set and considerable amount of time for the training. Performance of these controllers also deteriorates with external loads. To address these problems, this paper presents a MAML(Model-Agnostic Meta-Learning) based closed loop controller for the continuum manipulators. This controller requires relatively small amount of data to achieve the state-of-art positioning accuracy. It can also adapt to the changes due to the external loads with less than 2.5 percent of the original data. Two algorithms for the offline adaptation of the known and unknown external loading are proposed. This technique is also helpful for automatic stiffness tuning of the spring based continuum manipulators. The experimental validations have been done on the simulation environment and on the real prototype. The continuum arm used for the experimentation is a tendon based non constant curvature spring-based manipulator. The average relative positioning error for the zero loading case was found to be 3.83% on the spring based prototype . The controller was successful in bringing down the relative tip positioning error of the manipulator from 5.42% to 2.7% in the simulation environment. It also showed success in bringing down the relative tip positioning error from 7.8% to 3.96% on the real prototype. Average relative tip positioning errors below 4.27% and 4.89% have been achieved in the trajectory following tasks for the known and unknown external loading cases respectively.

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Design and Analysis of a Snake-Inspired Crawling Robot Driven by Alterable Angle Scales

Cited by 13 publications

References 25 publications

Mechanics and optimization of undulatory locomotion in different environments, tuning geometry, stiffness, damping and frictional anisotropy

Mechanics and optimization of undulatory locomotion in different environments, tuning geometry, stiffness, damping and frictional anisotropy

Design and mechanism of photothermal soft actuators and their applications

A Study on Position Control of a Continuum Arm Using MAML (Model-Agnostic Meta-Learning) for Adapting Different Loading Conditions

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