Robotics and Autonomous Systems KAMIL PDF

BTECH SEMINAR ON
REVIEW OF SNAKE ROBOTS IN CONSTRAINED ENVIRONMENT

AWH ENGINEERING COLLEGE
B-TECH MECHANICAL ENGINEERING DEPARTMENT
PRESENTED BY KAMIL MOHAMMED TK

REG.NO:AWH19ME017
UNDER THE GUIDANCE OF
MR.SAFEER M(ASST PROF)
MECHANICAL ENGINEERING DEPARTMENT

AWH ENGINEERING COLLEGE
CALICUT - 673008
CONTENTS
▶ INTRODUCTION
▶ BODY STRUCTURE OF SNAKES
▶ LOCOMOTION GAITS OF SNAKES
▶ MECHANICAL DESIGN OF SNAKE ROBOT
▶ MODULAR STRUCTURES OF SNAKE ROBOTS
▶ DC MOTOR
▶ OBSTACLE AIDED LOCOMOTION OF SNAKE ROBOTS
▶ ADVANTAGES AND DISADVANTAGES
▶ APPLICATIONS OF SNAKE ROBOT
▶ LATEST TECHNOLOGY OF SNAKE ROBOT
▶ CONCLUSION
INTRODUCTION
▶ To overcome the difficulty of wheeled robots in rough terrain,
variable mechanical structures were proposed in the last few decades.
▶ These include, for instance, tracked robots, air cushion robots ,
bipedal robots , multi-pedal robots and modular reconfigurable
robots .
▶ Although these robots have a much wider terrain adaptability than a
wheeled robot, there is no one that can fit all types of terrain. The
superb mobility of snakes in various terrains including rocky mountain,
desert, water and trees etc.
▶ Snake robots are likely to make significant contributions in areas such
as rescue missions, medical procedures, firefighting and maintenance,
as the environment may be too narrow or too dangerous for humans .
Body structure of snakes
▶ The skeleton of a snake usually consists of vertebrae, ribs

and skull
▶ The snake has 130 to 500 vertebrae and the ribs are
attached around the vertebrae to protect the internal
organs.
▶ The main function of the spinal cord is to transmit nerve
signals between the brain and other parts of the body.
▶ The role of the spine is to protect the spinal cord.
▶ However, the sum of all these small angular rotations
along the snake body gives it great flexibility in motion
BODY STRUCTURES OF SNAKE ROBOT
Locomotion gaits of snakes
▶ Snakes change their locomotion patterns in response to the environment.
▶ 1. Lateral undulation
▶ 2. Concertina
▶ 3. Crotaline/sidewinding
▶ 4. Rectilinear
▶ 5. Other gaits
VAROUS TYPES OF SNAKE ROBOTS
Biology principle of snake motion

According to the study, the formation principle of snake motion is
mainly composed of two main reasons:
friction anisotropy and ground/terrain contact points and weight
distribution.
Mechanical design of snake robot
▶ The first recorded snake robot was introduced by Hirose et al. [36] in 1972.
▶ The robot was 2 metres long with 20 rotating single degree-of-freedom (DOF)
joints.
▶ It could only be operated on a smooth surface by rotating its joints to the left
and right to generate forward motion.
▶ Later, Hirose et al have developed over 10 different types of snake robots.

Some robots were equipped with passive wheels around joints, such as ACM-III
and ACM-R5
. Modular structures of snake robots
▶ In general, snake robots are designed to consist of at least three similar or

identical modules which are chained together.
▶ Snake robots are categorized through certain basic properties, including:
actuator types, DOF of each module
▶ 1-DOF module
▶ 2-DOF module
▶ 3-DOF module
MECHANICAL DESIGN OF SNAKE ROBOT
DC MOTOR
▶ The most dominating actuator among most snake robots is the direct current
(DC) motor.
▶ A DC motor can drive a module to bend or rotate .
▶ A DC motor is a straight-forward solution for rotating one segment relative to

another.
▶ Therefore, DC motors are initially and widely used in the module design of
snake robots.
OBSTACLE AIDED LOCOMOTION OF SNAKE ROBOTS
▶ 1.Dynamic friction
▶ It is well known that snakes change their amplitude so that they adapt themselves
to the surface
▶ 2. Slope
▶ Sloped terrain represents terrain with a certain incline rate, and the friction
coefficient of its surface
▶ 3. Climbing
▶ When a snake robot encounters an obstacle that it cannot get around, it has to
climb over the obstacle. Moreover, other circumstances also require climbing
including through narrow passages such as pipes for internal or external inspection
▶ 4.Obstacle-aided locomotion
▶ In nature, snakes exploit obstacles such as rocks on the ground to obtain high
efficiency locomotion. Snakes have been observed gliding forward by bracing the
sides of its body against grass, stones or other obstacles on the surface of the
ground
AD VANTAG E S
▶ • High adaptive ability to constrained environment: The snake robot has a

thin cross-section and a slender flexible body, which can help the body to move
forward in very narrow space with minimal interference to the surrounding
environment.
▶ • Versatile ability with uniform body structures: By mimicking body feature

of snakes, snake robots can be expected to have similar versatile abilities
▶ • Fault tolerance with redundant body structures: Most snakelike robots have
many joints that can form a body that is as flexible as a snake
▶ • Stable gaits for locomotion: Because the bodies of snakelike robots often
touch different grounds in many different places, their movements are very
stable.
D I SAD VANTAG E S
▶ Despite major research efforts in recent years, the performance of

current generation snake robots is still lagging far behind biological
snakes
▶ Snake robots also have limitations including mechanical design,
sensing technology and intelligent control .
▶ Compared to the hundreds of vertebrae in biological snakes, snake
robots can only have a limited number of joints due to the torque
limitation of motors.
▶ Snake robots cannot carry a heavy load due to their thin body and
limited power of the single joint.
▶ Biological snakes can sense and locate precise touching of its body to
the environment
APPLICATIONS OF SNAKE ROBOT
Medical applications of snake robots
Invasive surgery
 Many of other kinds of continuum robots used in the medical field
are not suitable for use in orthopaedic surgery
 However, snake robots may be a potential medical device for assisted
surgery, which can overcome the limitations of traditional surgery
Robot assisted minimally invasive surgery

 Tissue deformation, limited working space, and limited visibility in a
chaotic environment present significant challenges to surgical
ergonomics, precision, and safety.
 The use of surgical snake-robots avoids many of the shortcomings of
traditional minimally invasive surgery, and it also allows surgery to be
separated between surgeons and patients.
 Clinical applications of virtual fixtures (VF)
 In recent years, the clinical application of VF has become more and more
common. There are also some application prospects in this field, such as sinus
surgery, plastic surgery, cardiac surgery, and ophthalmic surgery .
 The researchers considered the use of snake robots in image-guided surgery
 Due to the visual workspace as previously described, the implementation of VF

by snake robots can help the surgeons locate a particular tissue structure with a
defined safety margin to prevent unintentional tissue damage.
 Extreme environment applications of snake robots

 . Firefighting applications
 In the applications of fire protection, researchers built the snake robot fire
hose, which is inspired by the biological snake
 It can climb into the burning building and extinguish the fire by itself, without
putting human firefighters at risk
APPLICATION OF SNAKE ROBOT
 Urban rescue and disaster relief
 For decades, the application of snake robots in urban search and rescue
(USAR) has been an active field of research. Rescue robots require smart
devices with learning capabilities that can adapt to all situations .
 The search and rescue mission requires rescuers to find trapped survivors in
the collapsed structure after an earthquake or other disaster
 Inspection and exploration
 . To complete the inspection and exploration tasks, the robots must

have a high degree of flexibility and sensitivity
 A limbless snake robot with on-board sensors is ideal for this type of
task
 On-board sensors, on the other hand, help robots collect
environmental information and perform effective inspections and
accurate positioning
SNAKE ROBOTS
LATEST TECHNOLOGY OF SNAKE ROBOT
 This is the snake robot that can fix pipelines in ocean floor
 It is called Eelume.
 Eelume is a 19 foot (six-meter) long snake-like robot that uses

cameras and sensors for underwater navigation.
ConclusIon
▶ but many challenges concerning modelling and control of snake robots

remain before these robots are able to move adaptively through constrained
terrain..
▶ First, a review on the biological snake’s locomotion and its body structure is
provided, which outlines the biological foundation of all snake robots. This is
followed by the mechanical structure of snake robots, especially the structure
of elemental snake modules.
▶ The review also outlines emerging application areas and potential future
directions of snake robots. It is hoped that this survey will help promote
further research on the fascinating topic of snake robots through the overview
given in this paper
REFERENCES
▶ [1] R. Hayashi, K. Osuka, T. Ono, Trajectory control of an air cushion vehicle,

in: IEEE/RSJ/GI International Conference on Intelligent Robots and Systems -
Advanced Robotic Systems and the Real World, vol. 3, 1994, pp. 1906–1913.
▶ [2] J. Pratt, C.M. Chew, A. Torres, P. Dilworth, G. Pratt, Virtual model control:
an intuitive approach for bipedal locomotion, Int. J. Robot. Res. 20 (2) (2001)
129–143.
▶ [3] E.R. Westervelt, J.W. Grizzle, D.E. Koditschek, Hybrid zero dynamics of
planar biped walkers, IEEE Trans. Automat. Control 48 (1) (2003) 42–56.
THANK YOU

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BTECH SEMINAR ON

REVIEW OF SNAKE ROBOTS IN CONSTRAINED ENVIRONMENT

PRESENTED BY KAMIL MOHAMMED TK

MECHANICAL ENGINEERING DEPARTMENT

▶ The skeleton of a snake usually consists of vertebrae, ribs

Biology principle of snake motion

▶ Later, Hirose et al have developed over 10 different types of snake robots.

▶ In general, snake robots are designed to consist of at least three similar or

▶ A DC motor can drive a module to bend or rotate .

▶ A DC motor is a straight-forward solution for rotating one segment relative to

▶ • High adaptive ability to constrained environment: The snake robot has a

▶ • Versatile ability with uniform body structures: By mimicking body feature

▶ Despite major research efforts in recent years, the performance of

Medical applications of snake robots

Robot assisted minimally invasive surgery

 The researchers considered the use of snake robots in image-guided surgery

 Due to the visual workspace as previously described, the implementation of VF

 Extreme environment applications of snake robots

 Inspection and exploration

 . To complete the inspection and exploration tasks, the robots must

 Eelume is a 19 foot (six-meter) long snake-like robot that uses

▶ but many challenges concerning modelling and control of snake robots

▶ [1] R. Hayashi, K. Osuka, T. Ono, Trajectory control of an air cushion vehicle,

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