Numerical Model of the Slithering Snake Locomotion Based on the Friction Anisotropy of the Ventral Skin

Filippov, Alexander É.; Westhoff, Guido; Kovalev, Alexander; Gorb, Stanislav N.

doi:10.1007/s11249-018-1072-4

Cited by 14 publications

(13 citation statements)

References 20 publications

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“…Some of the friction studies adopted an artificially chosen hard counterface such as a metallic or glass subject, while in other studies fabrics were often used [464]. Most studies in skin tribology adopted experimental approaches, while only a few focused on theoretical investigations [465,466]. The effects of the presence of different media on skin friction were examined [467−469], while lubrication was analyzed for water snails [470].…”

Section: Skin Tribologymentioning

confidence: 99%

A review of recent advances in tribology

et al. 2020

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The reach of tribology has expanded in diverse fields and tribology related research activities have seen immense growth during the last decade. This review takes stock of the recent advances in research pertaining to different aspects of tribology within the last 2 to 3 years. Different aspects of tribology that have been reviewed including lubrication, wear and surface engineering, biotribology, high temperature tribology, and computational tribology. This review attempts to highlight recent research and also presents future outlook pertaining to these aspects. It may however be noted that there are limitations of this review. One of the most important of these is that tribology being a highly multidisciplinary field, the research results are widely spread across various disciplines and there can be omissions because of this. Secondly, the topics dealt with in the field of tribology include only some of the salient topics (such as lubrication, wear, surface engineering, biotribology, high temperature tribology, and computational tribology) but there are many more aspects of tribology that have not been covered in this review. Despite these limitations it is hoped that such a review will bring the most recent salient research in focus and will be beneficial for the growing community of tribology researchers.

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Section: Skin Tribologymentioning

confidence: 99%

A review of recent advances in tribology

et al. 2020

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“…However, the exact nature of these forces varies greatly between environments, giving rise to different strategies: during locomotion, some snakes adjust their scales, other redistribute their weight or change their winding angles, etc. [25]. These strategies produce different gaits, each suited to its environment.…”

Section: Modeling Environmentsmentioning

confidence: 99%

Automatic Snake Gait Generation Using Model Predictive Control

Hannigan¹,

Song²,

Khandate³

et al. 2019

Preprint

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In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Model Predictive Control (MPC) approach to automatically generate effective locomotion gaits via trajectory optimization. An important advantage of this approach is that the resulting gaits are automatically adapted to the environment that is being modeled as part of the snake dynamics. To illustrate this, we use a novel model for anisotropic dry friction, along with existing models for viscous friction and fluid dynamic effects such as drag and added mass. For each of these models, gaits generated without any change in the method or its parameters are as efficient as Pareto-optimal serpenoid gaits tuned individually for each environment. Furthermore, the proposed method can also produce more complex or irregular gaits, e.g. for obstacle avoidance or executing sharp turns.

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“…Anisotropic friction is ubiquitous in nature, and asymmetric forces must generate to achieve adhesion, locomotion, and transportation [1][2][3][4][5]. Examples of anisotropic friction include the highly ordered fibers of the snake skin [1], which exhibit a pronounced anisotropic friction force to propel its locomotion, i.e., high friction for propulsion and low friction for sliding.…”

Section: Introductionmentioning

confidence: 99%

Bio-inspired smart surface to achieve controllable locomotion through adjustable anisotropic friction

Qin

et al. 2021

Friction

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Anisotropic friction generated by microstructured surfaces is crucial for performing functions such as directional locomotion and adhesion in biological systems. Hence, an epoxy-based shape memory polymer (SMP) incorporating Fe3O4 nanoparticles is used in this study to create a smart surface with oriented structures to mimic anisotropic friction and exploit human-developed controllable locomotion systems. Applying the specific properties of the epoxy-based SMP, fast switching friction can be achieved by adjusting the topography and stiffness of the microstructures on the surface. In addition, the photothermogenesis effect of Fe3O4 nanoparticles induces changes in the asymmetric topography and stiffness on the SMP surface under the irradiation of near-infrared (NIR) light, thereby inducing a rapid switching of the friction force. Furthermore, a microbot is created to demonstrate remotely controlled locomotion, such as unidirectional and round-trip movements, and braking by switching the friction force under NIR light. These results are promising for the design of new intelligent surfaces and interfaces; additionally, they may facilitate the investigation of biological structures and processes.

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Numerical Model of the Slithering Snake Locomotion Based on the Friction Anisotropy of the Ventral Skin

Cited by 14 publications

References 20 publications

A review of recent advances in tribology

A review of recent advances in tribology

Automatic Snake Gait Generation Using Model Predictive Control

Bio-inspired smart surface to achieve controllable locomotion through adjustable anisotropic friction

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