Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments

Abstract

Snakes utilize irregularities in the terrain, such as rocks and vegetation, for faster and more efficient locomotion. This motivates the development of snake robots that actively use the terrain for locomotion, i.e. obstacle aided locomotion. In order to accurately model and understand this phenomenon, this paper presents a novel non-smooth (hybrid) mathematical model for wheel-less snake robots, which allows the snake robot to push against external obstacles apart from a flat ground. The framework of non-smooth dynamics and convex analysis allows us to systematically and accurately incorporate both unilateral contact forces (from the obstacles) and isotropic friction forces based on Coulomb's law using set-valued force laws. The mathematical model is verified through experiments. In particular, a back-to-back comparison between numerical simulations and experimental results is presented. It is furthermore shown that the snake robot is able to move forward faster and more robustly by exploiting obstacles.

A survey on snake robot modeling and locomotion

“…However, it may be demanding and time consuming for someone who is not acquainted with the basic principles of geometric mechanics to thoroughly understand these methods. This also applies for the nonsmooth 2D model presented by Transeth et al 108 where the Newton-Euler formulation is used together with set-valued force laws. The advantages with this latter approach are true stick-slip transitions and a relatively easy method for modeling contact with obstacles.…”

Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment

“…Bayraktaroglu reported a wheel-less robot with obstacle-aided locomotion [7]. Transeth presented a system for modeling and controlling a limbless snake-like robot [8]. Kuwada designed a snake-like robot with a rotary connection between swing joints that can be utilized for pipe inspection [9].…”

A multi-level control architecture for the bionic handling assistant

“…Prominent examples include artificial salamanders [1], hexapods [2], snakes [3], worms [4], and smaller quadrupeds [5]. These platforms showcase the interplay of morphology and computation [6] and explore the benefit of highly flexible continuum robots for future applications, like minimal invasive surgery [7].…”