0

Full Content is available to subscribers

Subscribe/Learn More  >

Refined Theoretical Modeling of a New-Generation Pressure-Operated Soft Snake

[+] Author Affiliations
Ming Luo, Yixiao Pan, Weijia Tao, Fuchen Chen, Erik H. Skorina, Cagdas D. Onal

Worcester Polytechnic Institute, Worcester, MA

Paper No. DETC2015-47515, pp. V05CT08A023; 8 pages
doi:10.1115/DETC2015-47515
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME

abstract

Our pressure-operated soft snake robot promises inherent flexibility and versatility to operate on complex and unpredictable environments compared to traditional snake robots made of rigid linkage chains. We previously presented a theoretical framework to describe its unique dynamic behavior and experimentally verified the accuracy of this model. This previous work had some drawbacks; the maximum center of mass velocity of the previous soft snake was one tenth its body length per second and the dynamic model could not predict the behavior of the robot when following non-linear trajectories because of a lack of frictional torques. In this paper we introduce the next generation of our soft robotic snake we call the “WPI SRS”, which can locomote ten times faster than the previous version. Additionally, we present refinements to the dynamical model that can predict both linear and rotational motions of the robot. Finally, we demonstrate the accuracy of this refined model through experimentation.

Copyright © 2015 by ASME
Topics: Pressure , Modeling

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In