A Survey on Snake Robot Locomotion
Snake robots have been a topic of discussion among researchers for decades. They are potentially strong enough to bring substantial contributions to the fields which are unsafe/ narrow/ dirty/ hard reachable to human operators, such as inspections, rescue missions, firefighting, etc. Though the inve...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9921291/ |
| _version_ | 1827308318041833472 |
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| author | G. Seeja Arockia Selvakumar Arockia Doss V. Berlin Hency |
| author_facet | G. Seeja Arockia Selvakumar Arockia Doss V. Berlin Hency |
| author_sort | G. Seeja |
| collection | DOAJ |
| description | Snake robots have been a topic of discussion among researchers for decades. They are potentially strong enough to bring substantial contributions to the fields which are unsafe/ narrow/ dirty/ hard reachable to human operators, such as inspections, rescue missions, firefighting, etc. Though the inventions of the wheel and legged mechanisms are amazing, they often fail when coming to these scenarios. Terrain adaptability is the vital essence of locomotion over constrained surfaces in biological snakes. But how this natural adaptability is accomplished in snake-like robots? Therefore, this paper focuses a study on factors behind the recreation of a physical snake, like the kinematics and dynamics modelling, mechanical design, and locomotion control approaches from existing literature. With their feature comparison, the simulators available for verifying the mathematical model and the feasibility of the mechanical design are also made for researchers new to the field. |
| first_indexed | 2024-04-24T18:55:17Z |
| format | Article |
| id | doaj.art-7f1f4e193c944357b5ece649d372673d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T18:55:17Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-7f1f4e193c944357b5ece649d372673d2024-03-26T17:43:21ZengIEEEIEEE Access2169-35362022-01-011011210011211610.1109/ACCESS.2022.32151629921291A Survey on Snake Robot LocomotionG. Seeja0Arockia Selvakumar Arockia Doss1https://orcid.org/0000-0002-7810-6994V. Berlin Hency2https://orcid.org/0000-0003-0522-9907School of Electronics Engineering, Vellore Institute of Technology, Chennai, Tamil Nadu, IndiaSchool of Mechanical Engineering, Vellore Institute of Technology, Chennai, Tamil Nadu, IndiaSchool of Electronics Engineering, Vellore Institute of Technology, Chennai, Tamil Nadu, IndiaSnake robots have been a topic of discussion among researchers for decades. They are potentially strong enough to bring substantial contributions to the fields which are unsafe/ narrow/ dirty/ hard reachable to human operators, such as inspections, rescue missions, firefighting, etc. Though the inventions of the wheel and legged mechanisms are amazing, they often fail when coming to these scenarios. Terrain adaptability is the vital essence of locomotion over constrained surfaces in biological snakes. But how this natural adaptability is accomplished in snake-like robots? Therefore, this paper focuses a study on factors behind the recreation of a physical snake, like the kinematics and dynamics modelling, mechanical design, and locomotion control approaches from existing literature. With their feature comparison, the simulators available for verifying the mathematical model and the feasibility of the mechanical design are also made for researchers new to the field.https://ieeexplore.ieee.org/document/9921291/Snake-robotslocomotion controlmathematical modellingkinematicsdynamicsmechanical design |
| spellingShingle | G. Seeja Arockia Selvakumar Arockia Doss V. Berlin Hency A Survey on Snake Robot Locomotion IEEE Access Snake-robots locomotion control mathematical modelling kinematics dynamics mechanical design |
| title | A Survey on Snake Robot Locomotion |
| title_full | A Survey on Snake Robot Locomotion |
| title_fullStr | A Survey on Snake Robot Locomotion |
| title_full_unstemmed | A Survey on Snake Robot Locomotion |
| title_short | A Survey on Snake Robot Locomotion |
| title_sort | survey on snake robot locomotion |
| topic | Snake-robots locomotion control mathematical modelling kinematics dynamics mechanical design |
| url | https://ieeexplore.ieee.org/document/9921291/ |
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