Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster
The locomotion of soft snake robots is dependent on frictional interactions with the environment. Frictional anisotropy is a morphological characteristic of snakeskin that allows snakes to engage selectively with surfaces and generate propulsive forces. The prototypical slithering gait of most snake...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-05-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.872007/full |
| _version_ | 1831523816851898368 |
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| author | Callie Branyan Callie Branyan Ahmad Rafsanjani Ahmad Rafsanjani Katia Bertoldi Ross L. Hatton Yiğit Mengüç Yiğit Mengüç |
| author_facet | Callie Branyan Callie Branyan Ahmad Rafsanjani Ahmad Rafsanjani Katia Bertoldi Ross L. Hatton Yiğit Mengüç Yiğit Mengüç |
| author_sort | Callie Branyan |
| collection | DOAJ |
| description | The locomotion of soft snake robots is dependent on frictional interactions with the environment. Frictional anisotropy is a morphological characteristic of snakeskin that allows snakes to engage selectively with surfaces and generate propulsive forces. The prototypical slithering gait of most snakes is lateral undulation, which requires a significant lateral resistance that is lacking in artificial skins of existing soft snake robots. We designed a set of kirigami lattices with curvilinearly-arranged cuts to take advantage of in-plane rotations of the 3D structures when wrapped around a soft bending actuator. By changing the initial orientation of the scales, the kirigami skin produces high lateral friction upon engagement with surface asperities, with lateral to cranial anisotropic friction ratios above 4. The proposed design increased the overall velocity of the soft snake robot more than fivefold compared to robots without skin. |
| first_indexed | 2024-12-14T18:59:44Z |
| format | Article |
| id | doaj.art-dbe35e02d1774ab4bd80e36e3087595d |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-14T18:59:44Z |
| publishDate | 2022-05-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-dbe35e02d1774ab4bd80e36e3087595d2022-12-21T22:51:00ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-05-01910.3389/frobt.2022.872007872007Curvilinear Kirigami Skins Let Soft Bending Actuators Slither FasterCallie Branyan0Callie Branyan1Ahmad Rafsanjani2Ahmad Rafsanjani3Katia Bertoldi4Ross L. Hatton5Yiğit Mengüç6Yiğit Mengüç7Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United StatesSandia National Laboratories, Albuquerque, NM, United StatesCenter for Soft Robotics, SDU Biorobotics, University of Southern Denmark, Odense, DenmarkJohn A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, United StatesJohn A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, United StatesCollaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United StatesCollaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United StatesMeta Reality Laboratory–Research, Redmond, WA, United StatesThe locomotion of soft snake robots is dependent on frictional interactions with the environment. Frictional anisotropy is a morphological characteristic of snakeskin that allows snakes to engage selectively with surfaces and generate propulsive forces. The prototypical slithering gait of most snakes is lateral undulation, which requires a significant lateral resistance that is lacking in artificial skins of existing soft snake robots. We designed a set of kirigami lattices with curvilinearly-arranged cuts to take advantage of in-plane rotations of the 3D structures when wrapped around a soft bending actuator. By changing the initial orientation of the scales, the kirigami skin produces high lateral friction upon engagement with surface asperities, with lateral to cranial anisotropic friction ratios above 4. The proposed design increased the overall velocity of the soft snake robot more than fivefold compared to robots without skin.https://www.frontiersin.org/articles/10.3389/frobt.2022.872007/fullsoft roboticskirigamibioinspirationbioroboticsmechanical designmechanical metamaterials |
| spellingShingle | Callie Branyan Callie Branyan Ahmad Rafsanjani Ahmad Rafsanjani Katia Bertoldi Ross L. Hatton Yiğit Mengüç Yiğit Mengüç Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster Frontiers in Robotics and AI soft robotics kirigami bioinspiration biorobotics mechanical design mechanical metamaterials |
| title | Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster |
| title_full | Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster |
| title_fullStr | Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster |
| title_full_unstemmed | Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster |
| title_short | Curvilinear Kirigami Skins Let Soft Bending Actuators Slither Faster |
| title_sort | curvilinear kirigami skins let soft bending actuators slither faster |
| topic | soft robotics kirigami bioinspiration biorobotics mechanical design mechanical metamaterials |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2022.872007/full |
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