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Outline
Ijspeert et al
Science 315, 1416
2007
Advantages of Serpentine Locomotion
STABILITY
• Potential Energy low in most situations
• Less probable failure points
TERRAINABILTY
• Can climb heights many times it’s own girth
• No possibility of getting stuck
Advantages of Serpentine Locomotion
TRACTION
• Moving Snake can exert a force upto a 3rd of
it’s own weight
• Large contact area results in greater traction
EFFICIENCY
• Reduced costs due to low COG, elimination of
acceleration and decceleration of limbs
Advantages of Serpentine Locomotion
REDUNDANCY
• Employs simple motion actuators in sequence
• Failure/Defect could be easily replaced
Snake Locomotion
Climbing:The two most common ways of ascent are LU and RP. Hard to
believe a snake lashing itself up a tree, but it does work and ascent is fluid.
When on branches the much safer concertina mode is used in place of the other
two
Lateral Undulation
Configuration Parameters
•Design
•Morphology
•Control System
Design
• Segments – “vertebrae”
• Actuators – “Muscles”
Actuator is a mechanical device for controlling a mechanism.
Takes Energy and converts into motion
Earlier Models –
Dr. Hirose et. Al.
10 Segments – 20
actuators
Work On
Feedback
Mechanis
m
Jae-Kwan Ryu et
al.
http://zedomax.com/blog/wp-content/uploads/2007/04/servo-snakebot.jpg
Existing Models