Related papers: Swimming locomotion of Soft Robotic Snakes
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to…
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'…
In nature, a variety of limbless locomotion patterns flourish from the small or basic life form (Escherichia coli, the amoeba, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
Snake robots are characterized by their ability to navigate through small spaces and loose terrain by utilizing efficient cyclic forms of locomotion. Soft snake robots are a subset of these robots which utilize soft, compliant actuators to…
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion…
The ocean vast unexplored regions and diverse soft-bodied marine organisms have spurred interest in bio-inspired underwater soft robotics. Recent advances have enabled new capabilities in underwater movement, sensing, and interaction.…
Despite advances in a diversity of environments, snake robots are still far behind snakes in traversing complex 3-D terrain with large obstacles. This is due to a lack of understanding of how to control 3-D body bending to push against…
Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…