Journal
ROBOTICA
Volume 37, Issue 8, Pages 1302-1319Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574718001522
Keywords
Robotic snake; Scales; Anisotropic forcing; Locomotion; Biomimetic robots
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Funding
- National Science Foundation (NSF) [1562911]
- Directorate For Engineering
- Div Of Civil, Mechanical, & Manufact Inn [1562911] Funding Source: National Science Foundation
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The unique frictional properties conferred by snake ventral scales inspired the engineering and fabrication of surrogate mechanisms for a robotic snake. These artificial, biologically inspired scales produce anisotropic body-ground forcing patterns with various locomotion surfaces. The benefits they confer to robotic snake-like locomotion were evaluated in experimental trials employing rectilinear, lateral undulation, and sidewinding gaits over several distinct surface types: carpet, inhomogeneous concrete and homogeneous concrete. Enhanced locomotive performance, with respect to net displacement and heading stability, was consistently measured in scenarios that utilized the engineered scales, over equivalent scenarios where the anisotropic effects of scales were absent.
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