A Snake-Like Robot with Envelope Wheels and Obstacle-Aided Gaits

Wang, Kundong; Ma, Yi; Shan, Haoxuan; Ma, Shugen

doi:10.3390/app9183749

Cited by 4 publications

(4 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Snakes achieve locomotion through the propagation of wave-like motions along their bodies. This unique locomotion mechanism allows them to move swiftly even in confined spaces, inspiring the design of robotic grippers [ 189 , 190 , 191 , 192 , 193 , 194 ]. A robot tongue design in [ 195 ] featured a metal-tape backbone enclosed in a PET tube, actuated by pneumatic pressure.…”

Section: Animal-inspired Grippersmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

View full text Add to dashboard Cite

The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature’s genius but also significantly enrich various domains through their versatility.

show abstract

Section: Animal-inspired Grippersmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

View full text Add to dashboard Cite

show abstract

“…For post-disaster search and rescue missions, traditional wheeled robots are poorly stable in unstructured and challenging environments (Neumann et al , 2013). Researchers at the Norwegian University of Science and Technology (NTNU) had proposed using the contact force between the snake-inspired robots and the obstacle to aid locomotion (Wang et al , 2019). They combined intelligent control systems with contact force sensing system to develop Aiko (Transeth et al , 2007) in Figure 15(a) and Kullo (Liljebäck et al , 2010) in Figure 16(a).…”

Section: Implementation Of Physical Snake-inspired Robotsmentioning

confidence: 99%

The snake-inspired robots: a review

Yang

Zheng²,

Lu³

et al. 2022

View full text Add to dashboard Cite

Purpose Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research progress of snake-inspired robots according to their application environments. It classifies snake-inspired robots according to the numbers of degrees of freedom in each joint and briefly describes the modeling and control of snake-inspired robots. Finally, the application fields and future development trends of snake-inspired robots are analyzed and discussed. Design/methodology/approach This paper summarizes the research progress of snake-inspired robots and clarifies the requirements of snake-inspired robots for self-adaptive environments and multi-functional tasks. By equipping various sensors and tool modules, snake-inspired robots are developed from fixed-point operation in a single environment to autonomous operation in an amphibious environment. Finally, it is pointed out that snake-inspired robots will be developed in terms of rigid and flexible deformable structure, long endurance and multi-function and intelligent autonomous control. Findings Inspired by the modular and reconfigurable concepts of biological snakes, snake-inspired robots are well adapted to unknown and changing environments. Therefore, snake-inspired robots will be widely used in industrial, military, medical, post-disaster search and rescue applications. Snake-inspired robots have become a hot research topic in the field of bionic robots. Originality/value This paper summarizes the research status of snake-inspired robots, which facilitates the reader to be a comprehensive and systematic understanding of the research progress of snake-inspired robots. This helps the reader to gain inspiration from biological perspectives.

show abstract

“…Johnston et al developed a wave-driven unmanned boat called AutoNaut, which can propel the body forward with alternating waves on the water [7,8]. For non-traditional hull structures, researchers from various countries have mainly used bionics to conduct relevant research [9][10][11][12][13]. Nad et al developed a water robot consisting of four thrusters.…”

Section: Introductionmentioning

confidence: 99%

Development of a Deformable Water-Mobile Robot

et al. 2023

Actuators

View full text Add to dashboard Cite

This article proposes a deformable water-mobile robot that can be used for rescue work. The robot body adopts an open-motion chain structure with two degrees of freedom, including two drive modules and one main control module. The three modules are connected through deformation joints, and each drive module is equipped with an underwater thruster. The robot can obtain a triangle, linear shape, curved shape, and U-shape through deformation and have three types of motion: linear shape motion, U-shaped motion, and curved shape motion. In the linear shape, a multi-island genetic algorithm was used to optimize the structural parameters with the minimum resistance and the maximum volume. Floating state analysis was conducted in the U-shape, and the structural parameters were reasonably designed. By experimenting with the robot prototype on water, the robot can achieve oscillating, linear, U-shaped, and horizontal rotary motion, has an automatic adjustment function, and effective buoyancy meets the required requirements.

show abstract

A Snake-Like Robot with Envelope Wheels and Obstacle-Aided Gaits

Cited by 4 publications

References 29 publications

Bioinspiration and Biomimetic Art in Robotic Grippers

Bioinspiration and Biomimetic Art in Robotic Grippers

The snake-inspired robots: a review

Development of a Deformable Water-Mobile Robot

Contact Info

Product

Resources

About