干旱区生态环境知识资源中心(Arid): Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Arid

DOI	10.1098/rsos.191192
	Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance
	Fu, Qiyuan; Li, Chen
通讯作者	Li, Chen
来源期刊	ROYAL SOCIETY OPEN SCIENCE
ISSN	2054-5703
出版年	2020
卷号	7 期号:2
英文摘要	Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such 'anchor points' is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability.
英文关键词	locomotion complex terrain terradynamics contact deformation robophysics
类型	Article
语种	英语
国家	USA
开放获取类型	Green Submitted, Green Published, gold
收录类别	SCI-E
WOS记录号	WOS:000517151500005
WOS关键词	LOCOMOTION ; MECHANISMS ; KINEMATICS ; MORPHOLOGY ; ANIMALS ; DESIGN ; MOVE ; SOFT
WOS类目	Multidisciplinary Sciences
WOS研究方向	Science & Technology - Other Topics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/315465
作者单位	Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA
推荐引用方式 GB/T 7714	Fu, Qiyuan,Li, Chen. Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance[J],2020,7(2).
APA	Fu, Qiyuan,&Li, Chen.(2020).Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance.ROYAL SOCIETY OPEN SCIENCE,7(2).
MLA	Fu, Qiyuan,et al."Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance".ROYAL SOCIETY OPEN SCIENCE 7.2(2020).