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

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...

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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
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spelling my.ump.umpir.280452020-03-12T06:57:26Z http://umpir.ump.edu.my/id/eprint/28045/ Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy Otaka, Kotaro Ahmad Najmuddin, Ibrahim Inoue, Kousuke Fukuoka, Yasuhiro TJ Mechanical engineering and machinery 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 snake's scales; the robot is driven by central pattern generators (CPGs) with two kinds of sensory feedback. When the effect of ventral friction is fed back to the corresponding CPG via the sensory feedback, it autonomously creates a phase difference between the CPGs, which is initially kept in phase by a hard-wired CPG network, eventually resulting in a spontaneous serpentine gait with good propulsion. In addition, when we allow the snake robot to move on a worn-out carpet with partially different friction levels, the robot demonstrates an adaptive locomotion to slither by autonomously adjusting the cycle, phase difference, and amplitude according to the different surface frictions. We hope that the autonomous adjustment differently occurs in each joint while slithering in outdoor environments where different contact frictions occur on different body segments. IEEE 2018-07-02 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/28045/1/Adaptive%20serpentine%20locomotion%20of%20a%20snake%20robot%20involuntarily%20.pdf Otaka, Kotaro and Ahmad Najmuddin, Ibrahim and Inoue, Kousuke and Fukuoka, Yasuhiro (2018) Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy. In: 2018 IEEE International Conference on Robotics and Biomimetics; ROBIO 2018, 12 - 15 December 2018 , Kuala Lumpur Convention Centre (KLCC), Kuala Lumpur, Malaysia. pp. 1795-1801. (8664830). ISBN 9781728103761 https://doi.org/10.1109/ROBIO.2018.8664830
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Otaka, Kotaro
Ahmad Najmuddin, Ibrahim
Inoue, Kousuke
Fukuoka, Yasuhiro
Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
description 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 snake's scales; the robot is driven by central pattern generators (CPGs) with two kinds of sensory feedback. When the effect of ventral friction is fed back to the corresponding CPG via the sensory feedback, it autonomously creates a phase difference between the CPGs, which is initially kept in phase by a hard-wired CPG network, eventually resulting in a spontaneous serpentine gait with good propulsion. In addition, when we allow the snake robot to move on a worn-out carpet with partially different friction levels, the robot demonstrates an adaptive locomotion to slither by autonomously adjusting the cycle, phase difference, and amplitude according to the different surface frictions. We hope that the autonomous adjustment differently occurs in each joint while slithering in outdoor environments where different contact frictions occur on different body segments.
format Conference or Workshop Item
author Otaka, Kotaro
Ahmad Najmuddin, Ibrahim
Inoue, Kousuke
Fukuoka, Yasuhiro
author_facet Otaka, Kotaro
Ahmad Najmuddin, Ibrahim
Inoue, Kousuke
Fukuoka, Yasuhiro
author_sort Otaka, Kotaro
title Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
title_short Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
title_full Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
title_fullStr Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
title_full_unstemmed Adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
title_sort adaptive serpentine locomotion of a snake robot involuntarily activated and modified through sensory feedback affected by longitudinal frictional anisotropy
publisher IEEE
publishDate 2018
url 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
_version_ 1662754810099662848
score 13.211869

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