Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
We aim to develop a snake robot that can autonomously slither over terrains with different surface friction, as found in outdoor environments. We build a simple snake robot with a scaled-up ventral scale plate under each segment, based on the property of longitudinal fricti onal anisotropy of a real...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2018
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/28045/1/Adaptive%20serpentine%20locomotion%20of%20a%20snake%20robot%20involuntarily%20.pdf |
| _version_ | 1825813282151202816 |
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| author | Otaka, Kotaro Ahmad Najmuddin, Ibrahim Inoue, Kousuke Fukuoka, Yasuhiro |
| author_facet | Otaka, Kotaro Ahmad Najmuddin, Ibrahim Inoue, Kousuke Fukuoka, Yasuhiro |
| author_sort | Otaka, Kotaro |
| collection | UMP |
| description | We aim to develop a snake robot that can autonomously slither over terrains with different surface friction, as found in outdoor environments. We build a simple snake robot with a scaled-up ventral scale plate under each segment, based on the property of longitudinal fricti onal anisotropy of a real snake's scales; the robot is driven by central pattern generators (CPGs) with two kinds of sensory feedback. When the effect of ventral friction is fed back to the corresponding CPG via the sensory feedback, it autonomously creates a phase difference between the CPGs, which is initially kept in phase by a hard-wired CPG network, eventually resulting in a spontaneous serpentine gait with good propulsion. In addition, when we allow the snake robot to move on a worn-out carpet with partially different friction levels, the robot demonstrates an adaptive locomotion to slither by autonomously adjusting the cycle, phase difference, and amplitude according to the different surface frictions. We hope that the autonomous adjustment differently occurs in each joint while slithering in outdoor environments where different contact frictions occur on different body segments. |
| first_indexed | 2024-03-06T12:41:40Z |
| format | Conference or Workshop Item |
| id | UMPir28045 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:41:40Z |
| publishDate | 2018 |
| publisher | IEEE |
| record_format | dspace |
| spelling | UMPir280452020-03-12T06:57:26Z http://umpir.ump.edu.my/id/eprint/28045/ Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy Otaka, Kotaro Ahmad Najmuddin, Ibrahim Inoue, Kousuke Fukuoka, Yasuhiro TJ Mechanical engineering and machinery We aim to develop a snake robot that can autonomously slither over terrains with different surface friction, as found in outdoor environments. We build a simple snake robot with a scaled-up ventral scale plate under each segment, based on the property of longitudinal fricti onal anisotropy of a real snake's scales; the robot is driven by central pattern generators (CPGs) with two kinds of sensory feedback. When the effect of ventral friction is fed back to the corresponding CPG via the sensory feedback, it autonomously creates a phase difference between the CPGs, which is initially kept in phase by a hard-wired CPG network, eventually resulting in a spontaneous serpentine gait with good propulsion. In addition, when we allow the snake robot to move on a worn-out carpet with partially different friction levels, the robot demonstrates an adaptive locomotion to slither by autonomously adjusting the cycle, phase difference, and amplitude according to the different surface frictions. We hope that the autonomous adjustment differently occurs in each joint while slithering in outdoor environments where different contact frictions occur on different body segments. IEEE 2018-07-02 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/28045/1/Adaptive%20serpentine%20locomotion%20of%20a%20snake%20robot%20involuntarily%20.pdf Otaka, Kotaro and Ahmad Najmuddin, Ibrahim and Inoue, Kousuke and Fukuoka, Yasuhiro (2018) Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy. In: 2018 IEEE International Conference on Robotics and Biomimetics; ROBIO 2018 , 12 - 15 December 2018 , Kuala Lumpur Convention Centre (KLCC), Kuala Lumpur, Malaysia. pp. 1795-1801. (8664830). ISBN 9781728103761 (Published) https://doi.org/10.1109/ROBIO.2018.8664830 |
| spellingShingle | TJ Mechanical engineering and machinery Otaka, Kotaro Ahmad Najmuddin, Ibrahim Inoue, Kousuke Fukuoka, Yasuhiro Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy |
| title | Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy |
| title_full | Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy |
| title_fullStr | Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy |
| title_full_unstemmed | Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy |
| title_short | Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy |
| title_sort | adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy |
| topic | TJ Mechanical engineering and machinery |
| url | http://umpir.ump.edu.my/id/eprint/28045/1/Adaptive%20serpentine%20locomotion%20of%20a%20snake%20robot%20involuntarily%20.pdf |
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