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robotic snake

Robotica (1)

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Evaluation of Bio-Inspired Scales on Locomotion Performance of Snake-Like Robots
Alexander H. Chang, Patricio A. Vela
Journal:

Robotica / Volume 37 / Issue 8 / August 2019

Published online by Cambridge University Press:

04 February 2019, pp. 1302-1319
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The unique frictional properties conferred by snake ventral scales inspired the engineering and fabrication of surrogate mechanisms for a robotic snake. These artificial, biologically inspired scales produce anisotropic body-ground forcing patterns with various locomotion surfaces. The benefits they confer to robotic snake-like locomotion were evaluated in experimental trials employing rectilinear, lateral undulation, and sidewinding gaits over several distinct surface types: carpet, inhomogeneous concrete and homogeneous concrete. Enhanced locomotive performance, with respect to net displacement and heading stability, was consistently measured in scenarios that utilized the engineered scales, over equivalent scenarios where the anisotropic effects of scales were absent.