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dc.contributor.authorSheard, Jen
dc.contributor.authorDraper, Ren
dc.contributor.authorTroughton, Men
dc.contributor.authorStoelen, MFen

© Springer International Publishing AG 2017. In this paper, we present a prototype of a 3D printed snake-like robot for search and rescue applications, inspired by biological snake anatomy and locomotion. Unlike traditional robotics, this design takes advantage of soft materials to create a robot that is resilient to shock impacts, such as from falling debris or unsound flooring, and that can very its stiffness. The robot uses a flexible spine to connect multiple sections, allowing controlled actuation while providing a sturdy structure. Variable stiffness actuation is implemented through the use of elastic materials to act as tendons for the body, in an agonist-antagonist setup. Actuation occurs through the use of Robotis Dynamixel AX-12A servos, controlled by a Trossen Robotics Arbotix-M Robocon-troller. The design features a head, containing a Raspberry Pi 3 and a Pi Camera Module. This added embedded computation can connect to a remote PC via wireless communication, allowing an operator to control the robot. This paper discusses the design and early stage testing for the prototype, and shows that robots based on soft 3D printed materials and mechanisms are viable, and effective.

dc.format.extent363 - 377en
dc.titleSoft robotic snake with variable stiffness actuationen
dc.typeConference Contribution
plymouth.volume10454 LNAIen
plymouth.journalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)en
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dc.rights.embargoperiodNot knownen
rioxxterms.typeConference Paper/Proceeding/Abstracten

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