Knowledge Resource Center for Ecological Environment in Arid Area
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
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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). |
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