Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions
Bio-inspired robots offer locomotion versatility in a wide variety of terrains that conventional robots cannot access. One such bio-inspired platform is snake-like robots, which are mechanisms designed to move like biological snakes. The aim of this paper was to implement and validate, through comp...
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| Format: | Članak |
| Jezik: | English |
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Instituto Tecnológico Metropolitano
2022-12-01
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| Serija: | TecnoLógicas |
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| Online pristup: | https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412 |
| _version_ | 1827912354598223872 |
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| author | Jairo José Marín Arciniegas Oscar Andrés Vivas Albán |
| author_facet | Jairo José Marín Arciniegas Oscar Andrés Vivas Albán |
| author_sort | Jairo José Marín Arciniegas |
| collection | DOAJ |
| description | Bio-inspired robots offer locomotion versatility in a wide variety of terrains that conventional robots cannot access. One such bio-inspired platform is snake-like robots, which are mechanisms designed to move like biological snakes. The aim of this paper was to implement and validate, through comparison in real and simulation tests on flat terrain, the design of a snake robot that allows movements in two perpendicular planes, by the application of three-dimensional locomotion modes. The prototype robot had a modular and sequential architecture composed of eight 3D printed segments. The necessary torques for each motor are found by means of a simulation in Matlab – Simulink and the SimScape tool. The Webots mobile robotics simulator was used to create a parameterized virtual model of the robot, where two types of gaits were programmed: sidewinding and rectilinear. Results showed that the robot undertakes lower than 1 second in execution time to reach the total distance in each of the proposed marches when comparted to the simulation. In addition, mean differences of 6 cm for the distances during the sidewinding mode experiment and 1.2 cm in the deviation in the rectilinear mode on flat terrain were obtained. In conclusion, there is a great similarity between the simulation tests and those performed with the actual robot, and it was also possible to verify that the behavior of the prototype robot is satisfactory over short distances. |
| first_indexed | 2024-03-13T02:15:45Z |
| format | Article |
| id | doaj.art-2312f6897d3c48209aea16056e097b51 |
| institution | Directory Open Access Journal |
| issn | 0123-7799 2256-5337 |
| language | English |
| last_indexed | 2024-03-13T02:15:45Z |
| publishDate | 2022-12-01 |
| publisher | Instituto Tecnológico Metropolitano |
| record_format | Article |
| series | TecnoLógicas |
| spelling | doaj.art-2312f6897d3c48209aea16056e097b512023-06-30T14:11:13ZengInstituto Tecnológico MetropolitanoTecnoLógicas0123-77992256-53372022-12-012656e2412e241210.22430/22565337.24121895Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait MotionsJairo José Marín Arciniegas0https://orcid.org/0000-0001-5172-8913Oscar Andrés Vivas Albán1https://orcid.org/0000-0001-5381-8234Universidad del Cauca, ColombiaUniversidad del Cauca, ColombiaBio-inspired robots offer locomotion versatility in a wide variety of terrains that conventional robots cannot access. One such bio-inspired platform is snake-like robots, which are mechanisms designed to move like biological snakes. The aim of this paper was to implement and validate, through comparison in real and simulation tests on flat terrain, the design of a snake robot that allows movements in two perpendicular planes, by the application of three-dimensional locomotion modes. The prototype robot had a modular and sequential architecture composed of eight 3D printed segments. The necessary torques for each motor are found by means of a simulation in Matlab – Simulink and the SimScape tool. The Webots mobile robotics simulator was used to create a parameterized virtual model of the robot, where two types of gaits were programmed: sidewinding and rectilinear. Results showed that the robot undertakes lower than 1 second in execution time to reach the total distance in each of the proposed marches when comparted to the simulation. In addition, mean differences of 6 cm for the distances during the sidewinding mode experiment and 1.2 cm in the deviation in the rectilinear mode on flat terrain were obtained. In conclusion, there is a great similarity between the simulation tests and those performed with the actual robot, and it was also possible to verify that the behavior of the prototype robot is satisfactory over short distances.https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412robot controlsimulation modelingrobot motionbiomimetic robotsnake robot |
| spellingShingle | Jairo José Marín Arciniegas Oscar Andrés Vivas Albán Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions TecnoLógicas robot control simulation modeling robot motion biomimetic robot snake robot |
| title | Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions |
| title_full | Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions |
| title_fullStr | Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions |
| title_full_unstemmed | Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions |
| title_short | Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions |
| title_sort | design and construction of a snake like robot implementing rectilinear and sidewinding gait motions |
| topic | robot control simulation modeling robot motion biomimetic robot snake robot |
| url | https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412 |
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