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Designing a multi-locomotion modular snake robot

Djoudi, Sara, Frampton, Jack M., Murphy, Angelina, Scammell, Thomas, Wright, Toby and Ji, Ze 2021. Designing a multi-locomotion modular snake robot. Presented at: 21st Towards Autonomous Robotic Systems Conference (TAROS 2021), Virtual, 8-10 September 2021. Published in: Fox, Charles, Gao, Junfeng, Ghalamzan Esfahani, Amir, Saaj, Min, Hanheide, Marc and Parsons, Simon eds. Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings. Lecture Notes in Computer Science Springer, pp. 249-259. 10.1007/978-3-030-89177-0_26

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Abstract

Snakes possess multi-locomotion abilities to best suit different environments. This work explores the design of a robot to replicate three types of snake motions: rectilinear, serpentine and sidewinding. The design featured identical modular housing units containing all the components for movement, a biomimetic skin to replicate the anisotropic friction created by the scales of the snakeskin and smart servos motors that produce adjacent housing rotation to imitate the body motion of a snake. Two prototypes are manufactured using rapid prototyping. Prototype 1 is designed to replicate rectilinear motion produced by the biomimetic snakeskin and collinear movement of each housing. Prototype 2 is powered by the smart servos and the rotation of adjacent housings to produce serpentine and sidewinding motions. From initial tests, prototype 1 is shown to be able to replicate rectilinear motion at low speeds, and prototype 2 is shown to be able to undertake 6 different movement options utilising both sidewinding and serpentine motions.

Item Type: Conference or Workshop Item (Paper)
Date Type: Published Online
Status: Published
Schools: Engineering
Publisher: Springer
ISBN: 9783030891763
Date of First Compliant Deposit: 20 July 2021
Date of Acceptance: 1 July 2021
Last Modified: 11 Apr 2022 14:34
URI: https://orca.cardiff.ac.uk/id/eprint/142728

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