Development of an amphibious snake-like robot

Li, Bin; Ma, Shugen; Ye, Changlong; Shu, Yu; Zhang, Guowei; Gong, Haili

doi:10.1109/wcica.2010.5553836

Cited by 9 publications

(2 citation statements)

References 5 publications

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“…In recent years, with the development of power supply technology, control and drive principle (Zhang et al , 2019), there has been a qualitative leap in the energy efficiency of snake-inspired robots (Toyoshima et al , 2014; Wiens and Nahon, 2012). The snake-inspired robots are gradually developed from a single land environment to a multi-functional amphibious environment (Zhang et al , 2016; Chi and Zhan, 2021), which are widely used in special applications, such as marine terrain mapping, submarine equipment maintenance and underwater ecological environment monitoring (Li et al , 2010). Through the coupling of various sensor modules and special operation modules, the snake-inspired robots are realized the information of collecting and analyzing under complex environmental conditions.…”

Section: Discussion and Future Directionmentioning

confidence: 99%

The snake-inspired robots: a review

Yang

Zheng²,

Lu³

et al. 2022

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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.

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Section: Discussion and Future Directionmentioning

confidence: 99%

The snake-inspired robots: a review

Yang

Zheng²,

Lu³

et al. 2022

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show abstract

“…ACM-R5's segments are lined with passive wheels and fins, which provide anisotropic resistance on both land and water for propulsion. Perambulator [8] branches off from the ACM-R5's design, implementing a 3-axis geared U-Joint housed within the length of the segment, while also using the same wheelfin design as the ACM-R5. The design uses a differential drive mechanism, resulting in a roll about the central axis of the snake backbone; this leaves the robot in a singular condition when the robot is straight, which is undesirable in many situations where the robot may be required to snake its way into a tight space.…”

Section: Related Workmentioning

confidence: 99%

ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments

Schreiber,

Richter,

Bilan

et al. 2019

Preprint

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This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint) for orientation control. When serially chained, these modules form a versatile snake robot platform which enables the robot to reshape its body configuration for varying environments and gait patterns that would be typical of snake movement.Furthermore, the Archimedes' screws allow for novel omni-wheel drive-like motions by speed controlling their screw threads. This paper considers the mechanical and electrical design, as well as the software architecture for realizing a fully integrated system. The system includes 3N actuators for N segments, each controlled using a BeagleBone Black with a customized power-electronics cape, a 9 Degrees of Freedom (DoF) Inertial Measurement Unit (IMU), and a scalable communication channel over ROS. The intended application for this robot is its use as an instrumentation mobility platform on terrestrial planets where the terrain may involve vents, caves, ice, and rocky surfaces. Additional experiments are shown on our website * .

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Jellyfish‐inspired multimodular bionic amphibious robot

Ma,

Qu,

Liu

et al. 2024

Journal of Field Robotics

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To make the amphibious robot have a lot of functions while keeping the overall structure relatively simple, this paper proposes a multimodule bionic amphibious robot (MMBAR) inspired by the movement mode of jellyfish. The MMBAR consists of four modules, which are connected by snaps, and can be assembled quickly. The wing–leg structure suitable for swimming in the water is designed, which combines the legs and wings using a flexible hinge. Meanwhile, the integrated design principle is adopted to combine the wing–leg structure with the wheel structure to design a deformable wheel suitable for land movement. The overall structure of the MMBAR is simple, and the wing–legs can be deformed to perform a variety of functions, such as acting as a wheel for land movement, as a claw for grasping objects, and as a propulsion mechanism to power the MMBAR for swimming. Theoretical modeling and simulation analyses are conducted separately for the MMBAR on land and in water, which helps understand the movement characteristics of the MMBAR and to obtain more optimized movement parameters. In addition, we conducted experiments on the MMBAR, such as climbing slopes, climbing steps, walking on snow, swimming in water, grasping objects, and so forth, which confirm that the MMBAR possesses a strong ability to adapt to the environment. These research results add new content to the research of amphibious robots, which are expected to replace humans to fulfill more dangerous jobs.

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Development of an amphibious snake-like robot

Cited by 9 publications

References 5 publications

The snake-inspired robots: a review

The snake-inspired robots: a review

ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments

Jellyfish‐inspired multimodular bionic amphibious robot

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