相关论文: Joint-repositionable Inner-wireless Planar Snake R…
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this…
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'…
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…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
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…
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation 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 composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…
In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
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)…
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…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
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…
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,…
The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited…
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…
Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…