Snakebot
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TheSnakeBot,also known as a snake robot, is a biomorphic,hyper-redundantrobotthat resembles a biologicalsnake.Snake robots come in many shapes and sizes, from as long as four stories (earthquake SnakeBot developed bySINTEF[1]) to a medical SnakeBot developed atCarnegie Mellon Universitythat is thin enough to maneuver around organs inside a human chest cavity.
SnakeBots can vary greatly in size and design. Small cross-section-to-length ratios allow them to maneuver through tight spaces. Their ability to change the shape of their bodies allows them to climb stairs or tree trunks.
Many snake robots are constructed by chaining together several independent links. This redundancy can allow them to continue operating even after parts of their body are destroyed. Properties such as highterrainability,redundancy, and the ability to completely seal their bodies make snake robots notable for practical applications and as a research topic.[2][3]
A SnakeBot differs from asnake-arm robotin that SnakeBots are usually self-contained, whereas snake-arm robots usually have remote mechanicals from the arm itself, possibly connected to a larger system.
Applications
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SnakeBots are being developed to assistsearch and rescue,[4]due to their ability to reach tight spaces that humans cannot, such as inside long thin pipes or environments cluttered with rubble.[5]
Where SnakeBots mimic the slithering strategy ofsnakes,[6]other rescue robots, such as theDeep Robotics X20,pursue strategies based onquadrupedalism.[7]These strategies provide tradeoffs in different terrains.
Locomotion
[edit]Traditional SnakeBots move by changing the shape of their body, similar to actual snakes. Many variants have been created which use wheels or treads for movement. No SnakeBots have been developed yet that can completely match the locomotion of real snakes, but researchers have been able to produce new ways of moving that do not occur in nature.
In SnakeBot research, agaitis a periodic mode of locomotion. For example,sidewindingandlateral undulationare both gaits. SnakeBot gaits are often designed by investigating period changes to the shape of the robot. For example, a caterpillar moves by changing the shape of its body to match a sinusoidal wave. Similarly, a SnakeBot can move by adapting its shape to different periodic functions.
Sidewinder rattlesnakescan ascend sandy slopes by increasing the portion of their bodies in contact with the sand to match the reduced yielding force of the inclined sand, allowing them to ascendthe maximum possible sand slopewithout slip.[8]SnakeBots that sidewind can replicate this ascent.[8]
Current research
[edit]SnakeBots are currently being researched as a new type ofrobotic,interplanetaryprobeby engineers at theNASA Ames Research Center.Software for SnakeBot is also being developed by NASA, so that they can learn by experiencing the skills to scale obstacles and remember the techniques.[9]
Snake robots are also being developed forsearch and rescuepurposes atCarnegie Mellon University's Biorobotics Lab.[4]
See also
[edit]References
[edit]- ^Pål Liljebäck."Anna Konda – The fire fighting snake robot | ROBOTNOR".Robotnor.no.Retrieved2016-05-04.
- ^Transeth, Aksel Andreas;Pettersen, Kristin Ytterstad(Dec 2006). "Developments in Snake Robot Modeling and Locomotion".2006 9th International Conference on Control, Automation, Robotics and Vision.pp. 1–8.doi:10.1109/ICARCV.2006.345142.ISBN978-1-4244-0341-7.S2CID2337372.
- ^Liljebäck, P.;Pettersen, K. Y.;Stavdahl, Ø.; Gravdahl, J. T. (2013).Snake Robots - Modelling, Mechatronics, and Control.Advances in Industrial Control. Springer.doi:10.1007/978-1-4471-2996-7.ISBN978-1-4471-2995-0.
- ^ab"SnakeBots - Carnegie Mellon University | CMU".cmu.edu.Retrieved2024-02-02.
- ^"Modular Snake Robots - The Robotics Institute Carnegie Mellon University".ri.cmu.edu.Retrieved2024-02-02.
- ^"Let a Snake-Inspired Robot Be Your Hero Today | NOVA | PBS".pbs.org.Retrieved2022-09-29.
- ^Robotics, DEEP."DEEP Robotics makes breakthrough in autonomous search using quadrupedal robots".prnewswire.Retrieved2024-05-07.
- ^abMarvi, Hamidreza (2014-10-10)."Sidewinding with minimal slip: Snake and robot ascent of sandy slopes".Science.346(6206): 224–229.arXiv:1410.2945.Bibcode:2014Sci...346..224M.doi:10.1126/science.1255718.PMID25301625.S2CID23364137.Retrieved2016-05-04.
- ^"JPL's Snake-Like EELS Slithers Into New Robotics Terrain".NASA Jet Propulsion Laboratory (JPL).Retrieved2024-05-07.
External links
[edit]- ROBOTNOR - The Norwegian Centre for Advanced Robotics at NTNU and SINTEF
- SINTEF's web pages
- Carnegie Mellon University's snake robots
- Modular Snake Robots
- University of Michigan's OmniTread Serpentine Robot
- How Stuff Works Snakebot
- Robot Snakes of Dr. Gavin Miller
- Serpentronic Robot Snake Project
- Carnegie Mellon’s Incredible Robot Snake Climbs a Real Tree
- The next 'new frontier' of artificial intelligence
- Sneel Swimming Snake Robot