Automated locomotion parameter tuning for an Anguilliform-inspired robot

Raj, Aditi; Kumar, Amarjeet; Thakur, Ajay Singh

doi:10.1109/smc.2016.7844625

Cited by 3 publications

(1 citation statement)

References 23 publications

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“…Mamba has a similar joint arrangement, and it is capable of sidewinding on the ground and swimming underwater; moreover, it has force and torque sensors embedded in the modules to improve its control [24]. Similar anguilliform-inspired robots use several modules and joints and an external cover for waterproofing [25,26]. Finally, AgnathaX is a modular snake robot actuated by servomotors and equipped with exteroceptive force sensors that measure the fluid dynamic forces and allow its bioinspired neural network to find the best swimming gait [27].…”

Section: Introductionmentioning

confidence: 99%

Bioinspired Design and Experimental Validation of an Aquatic Snake Robot

Bianchi,

Lanzetti,

Mariana

et al. 2024

Biomimetics

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This article presents the design, simulation, and experimental validation of a novel modular aquatic snake robot capable of surface locomotion. The modular structure allows each unit to function independently, facilitating ease of maintenance and adaptability to diverse aquatic environments. Employing the material point method with the moving least squares (MPM-MLS) simulation technique, the robot’s dynamic behavior was analyzed, yielding reliable results. The control algorithm, integral to the robot’s autonomous navigation, was implemented to enable forward propulsion at high speed, steering, and obstacle detection and avoidance. Extensive testing of the aquatic snake robot was conducted, demonstrating its practical viability. The robot showcased promising swimming capabilities, achieving high speeds and maneuverability. Furthermore, the obstacle detection and avoidance mechanisms were proven effective, showing the robot’s ability to navigate through dynamic environments. The presented aquatic snake robot represents an advancement in the field of underwater robotics, offering a modular and versatile solution for tasks ranging from environmental monitoring to search and rescue operations.

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