Refined Theoretical Modeling of a New-Generation Pressure-Operated Soft Snake

Luo, Ming; Pan, Yixiao; Tao, Weijia; Chen, Fu-Chen; Skorina, Erik H.; Önal, Çağdaş D.

doi:10.1115/detc2015-47515

Cited by 7 publications

(4 citation statements)

References 13 publications

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“…The SRS reported in [9], [12] generates serpentine locomotion but utilizes wheeled bases to generate friction anisotropy necessary for movement. The 'WPI SRS' [13] reported 10-fold locomotion speed increase than the previous version [8]. The SRS presented in [14] and [15] is self-contained with integrated sensing and feedback control.…”

Section: A Prior Workmentioning

confidence: 98%

Modeling and Validation of Soft Robotic Snake Locomotion

Arachchige¹,

Chen²,

Godage³

2020

Preprint

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Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts' unique characteristics. Prior SRSs are limited to planar operation with a limited number of planar gaits. We propose a novel SRS with spatial bending and investigate snake locomotion gaits beyond the capabilities of the state-of-the-art systems. We derive a complete floating-base kinematic model of the robot and use the model to derive jointspace trajectories for serpentine and inward/outward rolling locomotion gaits. The locomotion gaits for the proposed SRS are experimentally validated under varying frequency and amplitude of gait cycles. The results qualitatively and quantitatively validate the SRS ability to leverage spatial bending to achieve locomotion gaits not possible with current SRS.

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Section: A Prior Workmentioning

confidence: 98%

Modeling and Validation of Soft Robotic Snake Locomotion

Arachchige¹,

Chen²,

Godage³

2020

Preprint

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“…To allow a large range of pressures and material deformations, hybrid materials are often used on the pressure chambers, such as inextensible layers and fiber reinforcements [17]. Our modular soft snake robots use hybrid materials [12,13] to achieve highly efficient 2D terrain locomotion.…”

Section: Related Workmentioning

confidence: 99%

“…In this work, we aim to develop a real-time, high-fidelity simulation for soft robotic systems. We present a compliant constraint dynamics model for a soft snake robot [11,12,13].…”

Section: Introductionmentioning

confidence: 99%

A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes

Gasoto

Macklin²,

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraintbased dynamics model of a 1-dimensional pneumatic soft actuator that accounts for internal pressure forces, as well as the effect of actuator latency and damping under inflation and deflation and demonstrate its accuracy a full soft robotic snake with the composition of multiple 1D actuators. We verify our model's accuracy in static deformation and dynamic locomotion open-loop control experiments. To achieve real-time performance we leverage the parallel computation power of GPUs to allow interactive control and feedback.

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“…The first generation (2013) was the first soft robotic snake (Onal and Rus, 2013 ). The second generation WPI SRS (2015) is able to run at 220 mm/s, which is around one body length per second (about 10 times faster than the first generation), making it one of the fastest controllable soft mobile robots (Luo et al, 2015b ). The third generation WPI SRS (2015) is a self-contained soft mobile robot with embedded flexible curvature sensors (Luo et al, 2015a ), able to operate without an external pressure source.…”

Section: Introductionmentioning

confidence: 99%

Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake

et al. 2020

Self Cite

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Snake robotics is an important research topic with a wide range of applications, including inspection in confined spaces, search-and-rescue, and disaster response. Snake robots are well-suited to these applications because of their versatility and adaptability to unstructured and constrained environments. In this paper, we introduce a soft pneumatic robotic snake that can imitate the capabilities of biological snakes, its soft body can provide flexibility and adaptability to the environment. This paper combines soft mobile robot modeling, proprioceptive feedback control, and motion planning to pave the way for functional soft robotic snake autonomy. We propose a pressure-operated soft robotic snake with a high degree of modularity that makes use of customized embedded flexible curvature sensing. On this platform, we introduce the use of iterative learning control using feedback from the on-board curvature sensors to enable the snake to automatically correct its gait for superior locomotion. We also present a motion planning and trajectory tracking algorithm using an adaptive bounding box, which allows for efficient motion planning that still takes into account the kinematic state of the soft robotic snake. We test this algorithm experimentally, and demonstrate its performance in obstacle avoidance scenarios.

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Refined Theoretical Modeling of a New-Generation Pressure-Operated Soft Snake

Cited by 7 publications

References 13 publications

Modeling and Validation of Soft Robotic Snake Locomotion

Modeling and Validation of Soft Robotic Snake Locomotion

A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes

Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake

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