Design of a swimming snake robot

Giovanni Bianchi; Kavinda Pradeep Herath Herath Mudiyanselage; Simone Cinquemani

doi:10.1117/12.2613121

20 April 2022 Design of a swimming snake robot

Giovanni Bianchi, Kavinda Pradeep Herath Herath Mudiyanselage, Simone Cinquemani

Proceedings Volume 12041, Bioinspiration, Biomimetics, and Bioreplication XII; 120410A (2022) https://doi.org/10.1117/12.2613121
Event: SPIE Smart Structures + Nondestructive Evaluation, 2022, Long Beach, California, United States

Abstract

This paper presents the design and realization of a bioinspired snake robot that can move on the water surface. This robot mimics the locomotion strategies of anguilliform fishes such as eels and lampreys, which have a thin, long, cylindrical body and whose movement resembles the crawling of a snake. An autonomous underwater vehicle with such a shape can pass through narrow crevices and reach places inaccessible to other swimming robots. Moreover, this locomotion entails a high energy efficiency and outstanding agility in maneuvers. The body of the bioinspired robot consists of a modular structure in which each module contains a battery, the electronic board, and a servo motor that drives the following module. The head of the robot has a different shape as it contains a camera and an ultrasonic sensor used to detect obstacles. In addition to the design of the robot, this paper also describes the implementation of the kinematic model.

Citation Download Citation

Giovanni Bianchi, Kavinda Pradeep Herath Herath Mudiyanselage, and Simone Cinquemani "Design of a swimming snake robot", Proc. SPIE 12041, Bioinspiration, Biomimetics, and Bioreplication XII, 120410A (20 April 2022); https://doi.org/10.1117/12.2613121

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