Underwater Anguille like Robot

Snake like Robot with Anguilliform 3D Locomotion for Underwater Search & Rescue

Several biological inspired robots had been development in the past decades, for instance snake-like robots with new locomotion capabilities and environment are part of them. Furthermore, modular and reconfigurable robots are able to change their kinematics and configuration. This requires more flexibility and adaptability of the overall robot control and planning system..

A snake robot is significantly different from a wheeled robot, legged robot and/or tracked robot; it is a mobile platform with high redundancy and sinusoidal locomotion. Due to its multi-joint flexible structure design, a snake robot has the advantage of multi-gait motion and the ability to adapt to a complex unknown environment, and can be widely used underwater search, industrial vision testing even in disaster rescue where traditional robots or humans are limited.

The robot is driven by 4 high precision servo motors on each module and the master controller. The power supply module uses a Ni-MH battery pack to power the entire system. The entire electronics system is placed on the robot's head compartment.

Countries & Year

Colombia - Switzerland - 2024

Authors

Hernando Leon-Rodriguez

VR-CAD