Can I read Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles on EtoBox?

Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles by Qiyuan Fu; Sean W Gart; Thomas W Mitchel; Jin Seob Kim; Gregory S Chirikjian; Chen Li is a Environmental Science article available to read on EtoBox.

What is Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles about?

## Abstract Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments such as earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding how snakes and snake robots traverse large, smooth obstacles such as boulders and felled trees that lack “anchor points” for gripping or bracing. First, we discovered that the generalist variable kingsnake combines lateral oscillation and cantilevering. Regardless of step height and surface friction, the overall gait is preserved. Next, to quantify static stability of the snake, we developed a method to interpolate continuous body in three dimensions (3D) (both position and orientation) between discrete tracked markers. By analyzing the base of support using the interpolated continuous body 3-D kinematics, we discovered that the snake maintained perfect stability during traversal, even on the most challenging low friction, high step. Finally, we applied this gait to

Who reads Lateral Oscillation and Body Compliance Help Snakes and Snake Robots Stably Traverse Large, Smooth Obstacles?

Author

Qiyuan Fu; Sean W Gart; Thomas W Mitchel; Jin Seob Kim; Gregory S Chirikjian; Chen Li

Publisher

Oxford University Press; Oxford University Press (OUP) (ISSN 1540-7063)

Published

2020

Language

EN

Field

Environmental Science (Physical Sciences)