Abstract
Designing and modelling bioinspired robots enables mimicking complex biomechanical process as snake swimming locomotion. Cable-driven compliant continuum robot made of separated modules was specifically designed as biology-push process to accurately reproduce snake’s locomotion. This paper aims to present the design and modelling of a bioinspired two sections Serial Continuum Robot (SCR). This latter is a hybrid snake-arm composed of two sections assembled in series as a serial standard manipulator. Each section of the snake-arm is independently actuated and consists of 2-DoF. This polyvalent design combines the advantage of flexible continuum robot and serial manipulator. Swimming snake-like robot is presented as an example of biomimetic application, where the robot is able to significantly mimic snake locomotion with a homogeneous distribution of actuators.
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Acknowledgment
This research was funded by the French government by means of National Research Agency (ANR). This research is part of ANR DRAGON-2 project (ANR-20-CE02-0010).
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Gautreau, E., Sandoval, J., Arsicault, M., Bonnet, X., Zeghloul, S., Laribi, M.A. (2022). Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR). In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_29
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