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Snakebot

From Wikipedia, the free encyclopedia
A Gen 2 Snakebot from NASA, demonstrating rearing capabilities.

A snakebot, also known as a snake robot, is a biomorphic, hyper-redundant robot that resembles a snake. Snake robots come in many shapes and sizes, including the "Anna Konda" developed by SINTEF, a hydraulic firefighting robot with a length of 3 meters[1] and the medical Snakebot developed at Carnegie Mellon University, which is capable of maneuvering around organs inside a human chest cavity. [2] Snakebots have uses similar to those of certain types of soft robots. [3]

Snakebots can vary significantly in size and design. Their small cross-section-to-length ratios allow them to maneuver through tight spaces. Meanwhile, their ability to change shape enables them to traverse varied terrain. [4]

Snake robots are often designed by connecting multiple independent segments, which provides redundancy and enables continued operation even if some parts are damaged. These robots typically exhibit characteristics such as high trainability, redundancy, and the capability to fully seal their bodies. These features make snake robots valuable for a range of practical applications and an interesting subject for research.[5][6]

A Snakebot differs from a snake-arm robot in that Snakebots are usually self-contained, whereas snake-arm robots typically have mechanics remote from the arm itself, possibly connected to a larger system.[citation needed]

Applications

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By mimicking the unique locomotion of snakes, Snakebots can offer a versatile solution for tasks across multiple industries, enabling capabilities that traditional robots or human workers find challenging or impossible to accomplish safely. Snakebots are being considered for the following applications:

  • Search and rescue: A snakebot was deployed for search and rescue after the September 2017 earthquake in Mexico City.[7]
  • Inspection and maintenance: These robots can also be used for inspecting hard-to-reach areas, such as tubes, pipelines, bridges, and other infrastructure elements.[7]
  • Medical applications: In medical technology, miniature versions of Snakebots have been developed for endoscopic and minimally invasive procedures.[8]
  • Military and surveillance: Due to their quiet, agile movement, Snakebots are being considered for reconnaissance and surveillance tasks in military and defense settings[citation needed].
  • Space exploration: Space agencies are exploring the use of Snakebots to navigate extraterrestrial terrains, such as the rocky, uneven surfaces of Mars or the Moon.[9][10] Unlike traditional rovers, which can become stuck on uneven ground, Snakebots can adapt to challenging terrains, slithering over rocks or squeezing into crevices to gather data in places otherwise inaccessible.

Locomotion

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Traditional Snakebots move by changing the shape of their body, similar to actual snakes. Many variants have been created that use wheels or treads for movement. There has yet to be any Snakebots that accurately approximate the locomotion of real snakes. However, researchers have produced new movement methods that do not occur in nature.[citation needed]

In Snakebot research, a gait is a periodic mode of locomotion. Sidewinding and lateral undulation are both examples of gaits. Snakebot gaits are often designed by investigating period changes to the shape of the robot. For example, a caterpillar moves by changing the shape of its body to match a sinusoidal wave. Similarly, a Snakebot can move by adapting its shape to different periodic functions.[11]

Sidewinder rattlesnakes can ascend sandy slopes by increasing the portion of their bodies in contact with the sand to match the reduced yielding force of the inclined sand, allowing them to ascend the maximum possible sand slope without slip.[12] Snakebots that side-wind can replicate this ascent.[12]

Current research

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Snakebots are currently being researched as a new type of robotic, interplanetary probe by engineers at the NASA Ames Research Center. Software for Snakebots is also being developed by NASA, so that they can learn by experiencing the skills to scale obstacles and remembering the techniques.[13]

Snake robots are also being developed for search and rescue purposes at Carnegie Mellon University's Biorobotics Lab.[14]

See also

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References

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  1. ^ Pål Liljebäck. "Anna Konda – The fire fighting snake robot | ROBOTNOR". Robotnor.no. Retrieved 2016-05-04.
  2. ^ "Medical Snake Robot". medrobotics.ri.cmu.edu. Retrieved 2024-10-23.
  3. ^ Seeja, G.; Arockia Selvakumar Arockia, Doss; Berlin Hency, V. (8 September 2022). "A Survey on Snake Robot Locomotion". IEEE Access. 10: 112109–112110. Bibcode:2022IEEEA..10k2100S. doi:10.1109/ACCESS.2022.3215162.
  4. ^ Liu, Jindong; Tong, Yuchuang; Liu, Jinguo (18 April 2021). "Review of snake robots in constrained environments". Robotics and Autonomous Systems. 141. ISSN 0921-8890 – via Elsevier.
  5. ^ Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad (Dec 2006). "Developments in Snake Robot Modeling and Locomotion". 2006 9th International Conference on Control, Automation, Robotics and Vision. pp. 1–8. doi:10.1109/ICARCV.2006.345142. ISBN 978-1-4244-0341-7. S2CID 2337372.
  6. ^ Liljebäck, P.; Pettersen, K. Y.; Stavdahl, Ø.; Gravdahl, J. T. (2013). Snake Robots - Modelling, Mechatronics, and Control. Advances in Industrial Control. Springer. doi:10.1007/978-1-4471-2996-7. ISBN 978-1-4471-2995-0.
  7. ^ a b "Carnegie Mellon Snake Robot Used in Search for Mexico Quake Survivors". www.cmu.edu. September 27, 2017. Retrieved November 18, 2024.
  8. ^ Solberg, Eirik (20 September 2012). "Biorobotics Lab at CMU Creates Bio-inspired Snakebot".
  9. ^ "JPL's Snake-Like EELS Slithers Into New Robotics Terrain". NASA Jet Propulsion Laboratory (JPL). Retrieved 2024-11-10.
  10. ^ McDonald, Bob (May 12, 2023). "NASA engineers hope to send a robot snake to explore Saturn's icy moon Enceladus". Canadian Broadcasting Corporation. Retrieved November 9, 2024.
  11. ^ "Snakebot". www.cs.rochester.edu. Retrieved 2024-10-16.
  12. ^ a b Marvi, Hamidreza (2014-10-10). "Sidewinding with minimal slip: Snake and robot ascent of sandy slopes". Science. 346 (6206): 224–229. arXiv:1410.2945. Bibcode:2014Sci...346..224M. doi:10.1126/science.1255718. PMID 25301625. S2CID 23364137. Retrieved 2016-05-04.
  13. ^ "JPL's Snake-Like EELS Slithers Into New Robotics Terrain". NASA Jet Propulsion Laboratory (JPL). Retrieved 2024-05-07.
  14. ^ "SnakeBots - Carnegie Mellon University". www.cmu.edu. Retrieved 2024-02-02.
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