相关论文: Sidewinding with minimal slip: Snake and robot asc…
Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when…
Terrestrial locomotion requires generating appropriate ground reaction forces which depend on substrate geometry and physical properties. The richness of positions and orientations of terrain features in the 3-D world gives limbless animals…
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…
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…
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…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
Snakes can bend their elongate bodies in various forms to traverse various environments. We understand how snakes use lateral bending to push against asperities on flat ground for propulsion, and snake robots can do so effectively. However,…
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 moves across various terrains by bending its elongated body. Recent studies discovered that snakes can use vertical bending to traverse terrain of large height variation, such as horizontally oriented cylinders, a wedge (Jurestovsky,…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
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'…
This paper presents a soft-robotic platform for exploring the ecological relevance of non-locomotory movements via animal-robot interactions. Coral snakes (genus Micrurus) and their mimics use vigorous, non-locomotory, and arrhythmic…
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,…
Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…
Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
We use high-speed x-ray imaging to reveal how a small (~10cm) desert dwelling lizard, the sandfish (Scincus scincus), swims within a granular medium [1]. On the surface, the lizard uses a standard diagonal gait, but once below the surface,…
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…
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…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…