Soft Snake Robots: Investigating the Effects of Gait Parameters on Locomotion in Complex Terrains

Branyan, Callie; Mengüç, Yiğit

doi:10.1109/iros.2018.8593404

Cited by 24 publications

(14 citation statements)

References 10 publications

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“…The helical pitch of these fibers guides the motion that the tube undergoes when internally pressurized. FREEs are used in several existing systems including exoskeletons (Koller et al, 2016;Park et al, 2014;Polygerinos et al, 2015a;Singh et al, 2018), soft manipulators (McMahan et al, 2006;Pritts and Rahn, 2004), grippers and hands (Deimel and Brock, 2016), vibration isolators (Scarborough et al, 2012), bio-inspired slithering systems (Branyan and Menguc, 2018), and parallel groupings that augment force generation (Robertson et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Comparison and experimental validation of predictive models for soft, fiber-reinforced actuators

Sedal

Wineman

Gillespie

2019

The International Journal of Robotics Research

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Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques have been developed for and validated against already realized systems, their strengths and weaknesses have not been explicitly compared against each other. In this paper, we show how three distinct model structures -a lumped-parameter model, a continuum mechanical model, and a neural network-compare in capturing the gross trends and specific features of the force generation of soft robotic actuators. In particular, we study models for Fiber Reinforced Elastomeric Enclosures (FREEs), which are a popular choice of soft actuator and that are used in several soft articulated systems, including soft manipulators, exoskeletons, grippers, and locomoting soft robots. We generated benchmark data by testing eight FREE samples that spanned broad design and kinematic spaces and compared the models on their ability to predict the loading-deformation relationships of these samples. This comparison shows the predictive capabilities of each model on individual actuators and each model's generalizability across the design space. While the neural net achieved the highest peak performance, the first principles-based models generalized best across all actuator design parameters tested. The results highlight the essential roles of mathematical structure and experimental parameter determination in building high-performing, generalizable soft actuator models with varying effort invested in system identification.

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Section: Introductionmentioning

confidence: 99%

Comparison and experimental validation of predictive models for soft, fiber-reinforced actuators

Sedal

Wineman

Gillespie

2019

The International Journal of Robotics Research

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“…The gait pattern of a snake robot’s commonly used control system is lateral undulation, described in [ 31 ]. The dynamical analysis of various snake robot motion patterns can be found in [ 32 ], and the performance of different motion strategies is discussed in [ 33 ]. For the lateral undulation pattern, each joint angle i of the robot, where i belongs to the set

, is controlled using the following equation

where

and

are the amplitude and angular frequency, respectively, of the sinusoidal joint motion,

determines the phase shift between the joints, and

is a joint offset, which we assume to be identical for all joints.…”

Section: Methodsmentioning

confidence: 99%

Analysis of the Snake Robot Kinematics with Virtual Reality Visualisation

Sibilska-Mroziewicz

Hameed

Możaryn

et al. 2023

Sensors

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In this article, we present a novel approach to performing engineering simulation in an interactive environment. A synesthetic design approach is employed, which enables the user to gather information about the system’s behaviour more holistically, at the same time as facilitating interaction with the simulated system. The system considered in this work is a snake robot moving on a flat surface. The dynamic simulation of the robot’s movement is realised in dedicated engineering software, whereas this software exchanges information with the 3D visualisation software and a Virtual Reality (VR) headset. Several simulation scenarios have been presented, comparing the proposed method with standard ways for visualising the robot’s motion, such as 2D plots and 3D animations on a computer screen. This illustrates how, in the engineering context, this more immersive experience, allowing the viewer to observe the simulation results and modify the simulation parameters within the VR environment, can facilitate the analysis and design of systems.

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“…Data come from the studies. [ 16,20,21,23,26,27,123,128,140,152,154,164,166,167,169,174–188 ] For Supplementary Data, see Table S1–S3, Supporting Information.…”

Section: Actuationmentioning

confidence: 99%

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Zhang

Quan

et al. 2022

Advanced Intelligent Systems

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The development of space robots is vital to broadening human cognitive boundaries. Space robots have been deployed in space science experiments, extravehicular operations, and deep space exploration. The application of space robots undoubtedly reduces the risk and cost of space activities. Traditional space robots primarily utilize rigid structures, resulting in limited degrees of freedom, which restricts their operational capabilities. In contrast, soft robots with greater flexibility and robustness may be used for future space exploration. Soft robots applied in space environments must overcome significant challenges associated with ultrahigh vacuum, microgravity, extreme temperatures, and high‐energy radiation. Herein, a comprehensive analysis of the key advantages of soft robots is presented based on the special requirements of the space environments for soft robots. Furthermore, brief insights into how soft robots must be changed in terms of their design, modeling, fabrication, sensing, and control to adapt to space environments are discussed. Specifically, soft robot scenarios with potential space application value are introduced. Finally, opinions regarding the potential directions of soft space robots are provided.

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Soft Snake Robots: Investigating the Effects of Gait Parameters on Locomotion in Complex Terrains

Cited by 24 publications

References 10 publications

Comparison and experimental validation of predictive models for soft, fiber-reinforced actuators

Comparison and experimental validation of predictive models for soft, fiber-reinforced actuators

Analysis of the Snake Robot Kinematics with Virtual Reality Visualisation

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

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