Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions

Marín Arciniegas, Jairo José; Vivas Albán , Oscar Andrés

Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions

dc.creator	Marín Arciniegas, Jairo José
dc.creator	Vivas Albán , Oscar Andrés
dc.date	2022-12-06
dc.date.accessioned	2025-10-01T23:52:50Z
dc.description	Bio-inspired robots offer locomotion versatility in a wide variety of terrains that conventional robots cannot access. One such bio-inspired platform is snake-like robots, which are mechanisms designed to move like biological snakes. The aim of this paper was to implement and validate, through comparison in real and simulation tests on flat terrain, the design of a snake robot that allows movements in two perpendicular planes, by the application of three-dimensional locomotion modes. The prototype robot had a modular and sequential architecture composed of eight 3D printed segments. The necessary torques for each motor are found by means of a simulation in Matlab – Simulink and the SimScape tool. The Webots mobile robotics simulator was used to create a parameterized virtual model of the robot, where two types of gaits were programmed: sidewinding and rectilinear. Results showed that the robot undertakes lower than 1 second in execution time to reach the total distance in each of the proposed marches when comparted to the simulation. In addition, mean differences of 6 cm for the distances during the sidewinding mode experiment and 1.2 cm in the deviation in the rectilinear mode on flat terrain were obtained. In conclusion, there is a great similarity between the simulation tests and those performed with the actual robot, and it was also possible to verify that the behavior of the prototype robot is satisfactory over short distances.	en-US
dc.description	Los robots bioinspirados ofrecen versatilidad de locomoción en una amplia variedad de terrenos a los que los robots convencionales no pueden acceder. Una de esas plataformas bioinspiradas son los robots con forma de serpiente, que son mecanismos diseñados para moverse como serpientes biológicas. El objetivo de este artículo fue implementar y validar, mediante la comparación en pruebas reales y de simulación sobre un terreno llano, el diseño de un robot serpiente que permite movimientos en dos planos perpendiculares mediante la aplicación de modos tridimensionales de locomoción. El prototipo del robot contó con una arquitectura modular y secuencial compuesto por ocho segmentos impresos en 3D. Los pares necesarios para cada motor se encuentran mediante una simulación en Matlab – Simulink y la herramienta SimScape. El simulador de robótica móvil Webots se utilizó para crear un modelo virtual parametrizado del robot, donde se programaron dos tipos de marcha: sidewinding y rectilínea. Los resultados mostraron que el comportamiento del robot evidencia valores menores a 1 segundo en el tiempo de ejecución para alcanzar la distancia total en cada una de las marchas propuestas en comparación con la simulación. Además, se obtuvieron diferencias en promedio de 6 cm para las distancias durante el experimento del modo sidewinding y de 1.2 cm en el desvió rectilíneo sobre un terreno plano. En conclusión, existe una gran similitud entre las pruebas de simulación y las realizadas al robot real; igualmente se pudo verificar que el comportamiento del prototipo del robot es satisfactorio en recorridos cortos.	es-ES
dc.format	application/pdf
dc.format	application/zip
dc.format	text/xml
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dc.identifier	https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412
dc.identifier	10.22430/22565337.2412
dc.identifier.uri	https://hdl.handle.net/20.500.12622/7843
dc.language	eng
dc.publisher	Instituto Tecnológico Metropolitano (ITM)	es-ES
dc.relation	https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412/2651
dc.relation	https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412/2671
dc.relation	https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412/2672
dc.relation	https://revistas.itm.edu.co/index.php/tecnologicas/article/view/2412/2673
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dc.rights	Derechos de autor 2022 TecnoLógicas	es-ES
dc.rights	http://creativecommons.org/licenses/by-nc-sa/4.0	es-ES
dc.source	TecnoLógicas; Vol. 26 No. 56 (2023); e2412	en-US
dc.source	TecnoLógicas; Vol. 26 Núm. 56 (2023); e2412	es-ES
dc.source	2256-5337
dc.source	0123-7799
dc.subject	Robot control	en-US
dc.subject	simulation modeling	en-US
dc.subject	robot motion	en-US
dc.subject	biomimetic robot	en-US
dc.subject	snake robot	en-US
dc.subject	Control de robots	es-ES
dc.subject	modelado de simulación	es-ES
dc.subject	movimiento del robot	es-ES
dc.subject	robot biomimético	es-ES
dc.subject	robot serpiente	es-ES
dc.title	Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions	en-US
dc.title	Diseño y construcción de un robot tipo serpiente que implementa movimientos de marcha rectilínea y sidewinding	es-ES
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	Research Papers	en-US
dc.type	Artículos de investigación	es-ES