Soft Robotic Snake with Variable Stiffness Actuation

摘要

© 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.