Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy

• Main Authors: Otaka, Kotaro, Ahmad Najmuddin, Ibrahim, Inoue, Kousuke, Fukuoka, Yasuhiro
• Format: Conference or Workshop Item
• Language: English
• Published: IEEE 2018
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://umpir.ump.edu.my/id/eprint/28045/1/Adaptive%20serpentine%20locomotion%20of%20a%20snake%20robot%20involuntarily%20.pdf; http://umpir.ump.edu.my/id/eprint/28045/; https://doi.org/10.1109/ROBIO.2018.8664830

We aim to develop a snake robot that can autonomously slither over terrains with different surface friction, as found in outdoor environments. We build a simple snake robot with a scaled-up ventral scale plate under each segment, based on the property of longitudinal fricti onal anisotropy of a real...