{"title":"Bioinspired 3D-Printed Snakeskins Enable Effective Serpentine Locomotion of a Soft Robotic Snake.","authors":"Xinda Qi, Tong Gao, Xiaobo Tan","doi":"10.1089/soro.2022.0051","DOIUrl":null,"url":null,"abstract":"<p><p>We present a multi-material three-dimensional-printed snakeskin with orthotropic friction anisotropy, which permits undulatory slithering of a soft snake robot on rough surfaces. Such a snakeskin is composed of a soft skin base and embedded rigid scales attached to the robot's ventral surface. The bioinspired designs of scale shapes and arrangements lead effectively to various types of anisotropic friction, and provide means of switching robot's locomotion direction to be either the same as or opposite to the propagation direction of the traveling-wave undulation. Furthermore, steering of locomotion can be achieved by applying additional pressure bias in one air path to break symmetry of body deformation. We also successfully demonstrate the snake robot's mobility on various outdoor rough substrates, including concrete surfaces and a grass lawn, as well as pipes of different dimensions and materials, for potential field applications.</p>","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 3","pages":"568-579"},"PeriodicalIF":6.4000,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Soft Robotics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1089/soro.2022.0051","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 4
Abstract
We present a multi-material three-dimensional-printed snakeskin with orthotropic friction anisotropy, which permits undulatory slithering of a soft snake robot on rough surfaces. Such a snakeskin is composed of a soft skin base and embedded rigid scales attached to the robot's ventral surface. The bioinspired designs of scale shapes and arrangements lead effectively to various types of anisotropic friction, and provide means of switching robot's locomotion direction to be either the same as or opposite to the propagation direction of the traveling-wave undulation. Furthermore, steering of locomotion can be achieved by applying additional pressure bias in one air path to break symmetry of body deformation. We also successfully demonstrate the snake robot's mobility on various outdoor rough substrates, including concrete surfaces and a grass lawn, as well as pipes of different dimensions and materials, for potential field applications.
期刊介绍：
Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made.
With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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