International Journal of Applied Science and Engineering
Published by Chaoyang University of Technology

Li-Chun Liao*, Jun-Rong Luo

Department of Computer Science and Information Engineering, Chaoyang University of Technology, Taichung City, Taiwan


 

Download Citation: |
Download PDF


ABSTRACT


For the purposes of field explorations and rescues, this research designed and implemented a simple snake-like robot that can move in narrow space and various terrains. The frame of the robot was constructed by modular segments. Each segment consisted interlocked rings, connecting rods and servo-motors that enabled the robot to bend and oscillate the body and imitate the 2-D gaits of snakes. We used Motoduino module, Bluetooth, servo-motors and wireless micro-camera to activate the robot. In order to cut down the cost, the robot’s skeleton and mechanical components were designed by 3-D printing using PLA material. The weight of the robot is about 960g and the size is 79cm×14cm×9cm. The maximum speed and the radius of gyration are about 16cm/sec and 21cm, respectively.


Keywords: Biomimetic robot, Modular robot, Snake robot, and Motoduino.


Share this article with your colleagues

 


REFERENCES


  1. Dalu, S.S., Dalu, P.S. 2019. Design and development of modular snake robot and implementation of locomotive gaits. IEEE Pune Section International Conference (PuneCon) MIT World Peace University, Pune, India. 1–5.

  2. https://technews.tw/2020/02/21/snake-inspired-robot-slithers-and-climbs-over-obstacles/, last accessed 2020/11/21.

  3. Huang, Z., Kong, D., Re, C., Li, S., Shugen, M. 2019. Performance study of an underwater snake-like robot with a flexible caudal fin. Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, Tianjin, China. 2518–2522.

  4. Kamegawa, T., Yamasaki, T., Igarashi, H., Matsuno, F. 2004. Development of the snake-like rescue robot KOHGA. Proceedings of IEEE International Conference on Robotics and Automation, New Orleans, LA, USA. 5081–5086.

  5. Li, G.N., Zeng, M., Ma, Y., Li, Q., Xu, W.K. 2020. Design of double-body car-snake hybrid transformable robot. Proceedings of the 39th Chinese Control Conference, Shenyang, China. 3881–3886.

  6. Qin, Y., Wan, Z., Sun, Y., Skorina, E.H., Luo, M., Onal, C.D. 2018. Design, fabrication and experimental analysis of a 3-D Soft robotic snake. Proceedings of IEEE International Conference on Soft Robotics (RoboSoft) Livorno, Italy. 77–82.

  7. Rollinson, D., Bilgen, Y., Brown, B., Enner, F., Ford, S., Layton, C., Rembisz, J., Schwerin, M., Willig, A., Velagapudi, P., Choset, H. 2014. Design and architecture of a series elastic snake robot. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA. 4630–4636.

  8. Selvarajan, A., Kumar, A., Sethu, D., Azwan, M., Ramlan, B. 2019. Design and development of a Snake-robot for pipeline inspection. Proceedings of IEEE Student Conference on Research and Development (SCOReD, Seri Iskandar, Perak, Malaysia. 237–242.

  9. Shi, P., Shao, Q., Liang, D. 2016. Design and improved serpentine curve locomotion control of a planar modular snake robot. Proceedings of the IEEE International Conference on Information and Automation Ningbo, China. 1398–1402.

  10. Singh, A., Paigwar, A., Manchukanti, S.T., Saroya, M., Chiddarwar, S. 2018. Design and motion analysis of compliant Omni-directional spherical modular snake robot. Proceedings of 4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR), Netherlands.

  11. Ta, T.D., Umedachi, T., Kawahara, Y. 2018. Design of frictional 2D-Anisotropy surface for wriggle locomotion of printable soft-bodied robots. Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia. 6779–6785.

  12. Tanaka, M., Matsuno, F. 2014. Modeling and control of head raising snake robots by using kinematic redundancy. Journal of Intelligent & Robotic Systems, 75, 53–69.

  13. Tanaka, M., Tanaka, K. 2015. Control of a snake robot for ascending and descending steps. IEEE Transaction on Robotics, 31, 511–520.

  14. Xue, Y., Zhang, Y., Zheng, W., Jiang, C., Xiao, X. 2020. Design, control and experiment of a snake-like robot with gripper. Proceedings of 17th International Conference on Ubiquitous Robots (UR), Kyoto, Japan. 50–55.

  15. Zhu, W., Guo, X., Fang., T. 2017. Design of a modular snake robot and control with internet of things. Proceedings of Chinese Automation Congress, Jinan, China. 850–854.


ARTICLE INFORMATION


Received: 2020-12-12
Revised: 2021-04-06
Accepted: 2021-04-12
Publication Date: 2021-09-01


Cite this article:

Liao, L.-C., Luo, J.-R. 2021. Design and implementation of a snake-like robot with biomimetic 2-D gaits, International Journal of Applied Science and Engineering. 18, 2020331. https://doi.org/10.6703/IJASE.202109_18(5).001

  Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.


We use cookies on this website to improve your user experience. By using this site you agree to its use of cookies.