Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Exploring Snake-Like Locomotion: Analysis of Serpenoid Curves and Anisotropic Friction in Snake Robots
Submission Author:
Dianne Magalhães Viana , DF , Brazil
Co-Authors:
Vinícius Carvalho Gomes, Gabriel Baliza Rocha, Mariana Cruz, Thiago de Deus Lima Rocha, Dianne Magalhães Viana, Carla Maria Chagas e Cavalcante Koike, Jones Yudi Mori Alves da Silva
Presenter: Thiago de Deus Lima Rocha
doi://10.26678/ABCM.COBEM2023.COB2023-2407
Abstract
Apodal or snake-like motion is still relatively unexplored in robotics compared to more common forms such as wheels, tracks,and legs. However, locomotion through the robot’s own body offers many advantages in scenarios where other common forms of locomotion are not feasible. Due to their flexible and highly adaptive structure, snake robots have an easier time moving in uneven terrains, narrow passages, and overcoming obstacles. The concept of snake robots is often associated with the use of reconfigurable modular robotics. Snakes utilize the anisotropic friction provided by their scales to direct the direction of movement, generating greater friction perpendicular to their body and lower friction parallel to their body. A major challenge in robotics is how to reproduce this behavior provided by the scales in the modules of constructed robots. This study aims to examine the impact of Hirose’s serpenoid curve parameters and anisotropic friction on the locomotion of snake robots. To achieve this, simulations and comparisons to similar projects will be conducted, and a module will be used for the modeling of apodal robots, enabling investigations into bioinspired movement. This research contributes to better understand apodal locomotion by investigating the relationship between snake movement and the design parameters of apodal robots. The results highlight the importance of anisotropic friction in achieving serpentine locomotion.
Keywords
Modular Robotics, Anisotropic friction, Simulation, Apodal robot
