A Design of a Snake Robot Inspired by Waterbomb Origami

Zuo, Xia; Tang, JingMing; Tian, Mengqian; Wang, Xingsong

doi:10.1109/robio55434.2022.10011805

Cited by 2 publications

(3 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A continuous turning curve path is generated by the PCSI method with the waypoints (0, 0), (2, 0.1), (5, 1), (8, −0.6), (11, 1), and (14, 0), which is shown in Figure 7c with a blue dotted line too. A continuous turning curve path is generated by the PCSI method with the waypoints (0, 0), (2, 0.1), (5, 1), (8, −0.6), (11,1), and (14, 0), which is shown in Figure 7c with a blue dotted line too.…”

Section: Path Following With Adaptive Forward Distancementioning

confidence: 99%

“…To further verify the performance of the proposed control method and optimization strategy, a continuous turning curve path is used as the expected path. The waypoints are set at (0, 0), (2, 0.1), (5, 1), (8, −0.6), (11,1), and (14, 0), which is shown in Figure 11a. In addition, the start point of the USR's center of mass is (−0.5, 0.3) to verify the effectiveness of the control strategy.…”

Section: Continuous Turning Pathmentioning

confidence: 99%

“…Therefore, it can also be applied to the kinematic modeling of snake robots. Xiaoqing Zuo et al [11] used the D-H parametric method to model the kinematics of snake robots by studying the parameters of snake curves. Prof. Kelasidi [7] constructed a kinematic model of an underwater snake-like robot by using the geometric relations of adjacent connecting rods, analyzed the hydrodynamics of the connecting rods by Morrison's formula, and applied the Newton-Euler method to model the dynamics of the underwater snake-like robot.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

Liu

Zhu

Chen

et al. 2023

JMSE

View full text Add to dashboard Cite

In this paper, we propose a cubic spline interpolation method to generate a desired curve path and present an integral line of sight (ILOS) method and a control strategy for course tracking control based on nonsingular terminal sliding mode to enable an underwater snake-like robot (USR) to move towards and follow the path generated by the parametric cubic-spline interpolation (PCSI) path-planning method, while considering the disturbances caused by ocean currents. The efficiency of robot locomotion is an important evaluation criterion for robot design. Thus, we introduce a multi-strategy improved sparrow search algorithm (MISSA) to dynamically choose gait parameters that significantly enhance the efficiency of robot movement. We conduct simulations to demonstrate that the proposed controller enables the USR, subjected to ocean currents, to accurately converge towards and follow the target path. Our results also reveal that MISSA effectively enhances the locomotion efficiency of the robot.

show abstract

Section: Path Following With Adaptive Forward Distancementioning

confidence: 99%

Section: Continuous Turning Pathmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

Liu

Zhu

Chen

et al. 2023

JMSE

View full text Add to dashboard Cite

show abstract

Biomimetic Origami: A Biological Influence in Design

Ebrahimi Fakhari,

Rosario Barboza,

Mardanpour

2024

Biomimetics

View full text Add to dashboard Cite

Origami, the art of paper folding, has long fascinated researchers and designers in its potential to replicate and tap the complexity of nature. In this paper, we pursue the crossing of origami engineering structures and biology, the realm of biologically-inspired origami structures categorized by the two biggest taxonomy kingdoms and DNA origami. Given the diversity of life forms that Earth comprises, we pursue an analysis of biomimetic designs that resemble intricate patterns and functionalities occurring in nature. Our research begins by setting out a taxonomic framework for the classification of origami structures based on biologically important kingdoms. From each of these, we explore the engineering structures inspired by morphological features, behaviors, and ecological adaptations of organisms. We also discuss implications in realms such as sustainability, biomaterials development, and bioinspired robotics. Thus, by parlaying the principles found in nature’s design playbook through the art of folding, biologically inspired origami becomes fertile ground for interdisciplinary collaboration and creativity. Through this approach, we aim to inspire readers, researchers, and designers to embark on a journey of discovery in which the boundaries between art, science, and nature are blurred, providing a foundation for innovation to thrive.

show abstract

A Design of a Snake Robot Inspired by Waterbomb Origami

Cited by 2 publications

References 18 publications

Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

Path Following of an Underwater Snake-like Robot Exposed to Ocean Currents and Locomotion Efficiency Optimization Based on Multi-Strategy Improved Sparrow Search Algorithm

Biomimetic Origami: A Biological Influence in Design

Contact Info

Product

Resources

About