Related papers: Swimming locomotion of Soft Robotic Snakes
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots…
Soft robots offer adaptability and safe interaction with complex environments. Rapid prototyping kits that allow soft robots to be assembled easily will allow different geometries to be explored quickly to suit different environments or to…
Underwater vehicles have seen significant development over the past seventy years. However, bio-inspired propulsion robots are still in their early stages and require greater interdisciplinary collaboration between biologists and…
This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of…
Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to…
This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint)…
We determine analytically the form of optimal snake locomotion when the coefficient of transverse friction is large, the typical regime for biological and robotic snakes. We find that the optimal snake motion is a retrograde traveling wave,…
In the application of underwater creature study, comparing with propeller-powered ROVs and servo motor actuated robotic fish, novel biomimetic fish robot designs with soft actuation structure could interact with aquatic creatures closely…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
Screw-based propulsion systems offer promising capabilities for amphibious mobility, yet face significant challenges in optimizing locomotion across water, granular materials, and transitional environments. This study presents a systematic…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A deep reinforcement learning (RL) module for achieving adaptive…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Soft robotics has opened a unique path to flexibility and environmental adaptability, learning from nature and reproducing biological behaviors. Nature implies answers for how to apply robots to real life. To find out how we learn from…