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Multimodal, Continuously Flexible, Twisted String Actuated Snake Robot
Multimodal, Continuously Flexible, Twisted String Actuated Snake Robot
Byron Anthony Urrea, Carver Sweet, Torin Halsted, Yuan Chen
Byron Anthony Urrea, Carver Sweet, Torin Halsted, Yuan Chen
Department of Mechanical and Aerospace Engineering at University of California San Diego
Department of Mechanical and Aerospace Engineering at University of California San Diego
Sponsored by Dr. Michael Yip and ARC lab
Sponsored by Dr. Michael Yip and ARC lab
Project Background
Project Background
Snake robots are bio-inspired robots that mimic the movement of a snake. These types of robots are usually multi-jointed, have a small cross-section to length ratio, and achieve locomotion through changing the shape of their body. Recent snake robots include Carnegie Mellon’s SEA snake [1], ROBOTNOR’s AIKO [2], and OSMOS [3] by International Institute of Information Technology. The motivation for building snake robots is their applicability to navigating dangerous environments (planetary exploration, earthquake rubble, etc.) and the medical field (endoscopy, colonoscopy, and minimally invasive surgeries).These robots can be applied to situations or environments, such as in thin long pipes or rubble, where a thin snakelike body can provide advantages. The snake body allows for flexibility to overcome many obstacles including climbing objects, swimming across water, and ground movement. Due to these advantages, some snake robots are developed to aid in search and rescue. Snake robots are not just limited to this, they can also be developed for medical purposes like Carnegie Mellon’s medical snake robot for minimally invasive cardiac surgery (MICS). Medical snake robots are, ideally, small in size and have autonomous driving to help maneuver while inside a living body.Locomotion is achieved solely through changing the shape of the body, similar to snakes, but can also be achieved with wheels. Ideally the snake robot uses side-winding gait movement but no snake robot developed thus far mimics the exact snake-like movement for side-winding.
Snake robots are bio-inspired robots that mimic the movement of a snake. These types of robots are usually multi-jointed, have a small cross-section to length ratio, and achieve locomotion through changing the shape of their body. Recent snake robots include Carnegie Mellon’s SEA snake [1], ROBOTNOR’s AIKO [2], and OSMOS [3] by International Institute of Information Technology. The motivation for building snake robots is their applicability to navigating dangerous environments (planetary exploration, earthquake rubble, etc.) and the medical field (endoscopy, colonoscopy, and minimally invasive surgeries).These robots can be applied to situations or environments, such as in thin long pipes or rubble, where a thin snakelike body can provide advantages. The snake body allows for flexibility to overcome many obstacles including climbing objects, swimming across water, and ground movement. Due to these advantages, some snake robots are developed to aid in search and rescue. Snake robots are not just limited to this, they can also be developed for medical purposes like Carnegie Mellon’s medical snake robot for minimally invasive cardiac surgery (MICS). Medical snake robots are, ideally, small in size and have autonomous driving to help maneuver while inside a living body.Locomotion is achieved solely through changing the shape of the body, similar to snakes, but can also be achieved with wheels. Ideally the snake robot uses side-winding gait movement but no snake robot developed thus far mimics the exact snake-like movement for side-winding.
The team’s sponsor, Dr. Michael Yip, is the principal investigator for UCSD’s Advanced Robotics Laboratory (ARCLab) and has tasked us with developing a snake robot for research and medical purposes. The ARCLab is interested in the development of biomedical robots. The lab previously began developing the snake robot for its use in minimally invasive surgery, endoscopy, and colonoscopy as well as for research purposes. Previous teams developed the robot’s body as well as circuits and software control. The MAE156B team was able to make one segment function and our team has picked up on the project and will further develop this technology by redesigning the mechanical system and improving on the controls aspect of the project.
The team’s sponsor, Dr. Michael Yip, is the principal investigator for UCSD’s Advanced Robotics Laboratory (ARCLab) and has tasked us with developing a snake robot for research and medical purposes. The ARCLab is interested in the development of biomedical robots. The lab previously began developing the snake robot for its use in minimally invasive surgery, endoscopy, and colonoscopy as well as for research purposes. Previous teams developed the robot’s body as well as circuits and software control. The MAE156B team was able to make one segment function and our team has picked up on the project and will further develop this technology by redesigning the mechanical system and improving on the controls aspect of the project.
Objective
Primary Objectives:
Primary Objectives:
3 identical connected segments which can be formed into shapes such as an S
Open loop position control using real-world orientation from IMUS
Implementation of IMU/motor driver-Arduino-MATLAB interface
Flexible backbone which can bend to 60 degrees
Backbone plates which lock into place using friction when twisted strings increase the normal force between rolling plates
String through center to encase and protect communications wires
Easy-to assemble and disassemble design
Secondary Objectives:
Secondary Objectives:
Improved user interface through MATLAB app design
Develop faster and more precise control
Closed-loop Position control implemented in MATLAB
Results
Results for kinematics and string actuations
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