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bilateral activation of their muscles to generate and propagate waves along their
body (e.g. C. elegans [3]). Therefore, we can use our robot (whose dynamics are
highly damped [19]) to test the bilateral actuation scheme in undulators across
different length scales and terrains. We expect that future limbless robots can
take advantage of the principles discovered in our robophysical model.
References
1. Astley, H.C., et al.: Side-impact collision: mechanics of obstacle negotiation in
sidewinding snakes. bioRxiv (2020)
2. Bayraktaroglu, Z.Y., Kilicarslan, A., Kuzucu, A., Hugel, V., Blazevic, P.:
Design and control of biologically inspired wheel-less snake-like robot. In: The
First IEEE/RAS-EMBS International Conference on Biomedical Robotics and
Biomechatronics, 2006, BioRob 2006, pp. 1001–1006. IEEE (2006)
3. Butler, V.J., et al.: A consistent muscle activation strategy underlies crawling
and swimming in caenorhabditis elegans. J. Roy. Soc. Interface 12(102), 20140963
(2014)
4. Cowan, N.J., Lee, J., Full, R.J.: Task-level control of rapid wall following in the
american cockroach. J. Exp. Bio. 209(9), 1617–1629 (2006)
5. Gans, C.: Locomotion of limbless vertebrates: pattern and evolution. Herpetologica
42(1), 33–46 (1986)
6. Hirose, S.: Biologically Inspired Robots: Snake-Like Locomotors and Manipulators.
Oxford University Press, Oxford (1993)
7. Hopkins, J.K., Spranklin, B.W., Gupta, S.K.: A survey of snake-inspired robot
designs. Bioinspir. Biomimet. 4(2), 021001 (2009)
8. Hu, D.L., Nirody, J., Scott, T., Shelley, M.J.: The mechanics of slithering locomotion. Proc. Nat. Acad. Sci. USA 106(25), 10081–10085 (2009)
9. Ijspeert, A.J.: Central pattern generators for locomotion control in animals and
robots: a review. Neural Netw. 21(4), 642–653 (2008)
10. Ijspeert, A.J., Crespi, A., Ryczko, D., Cabelguen, J.M.: From swimming to walking
with a salamander robot driven by a spinal cord model. Science 315(5817), 1416–
1420 (2007)
11. Inoue, K., Nakamura, K., Suzuki, M., Mori, Y., Fukuoka, Y., Shiroma, N.: Biological system models reproducing snakes’ musculoskeletal system. In: 2010 IEEE/RSJ
International Conference on Intelligent Robots and Systems, pp. 2383–2388. IEEE
(2010)
12. Jayne, B.C.: Muscular mechanisms of snake locomotion: an electromyographic
study of lateral undulation of the florida banded water snake (nerodia fasciata)
and the yellow rat snake (elaphe obsoleta). J. Morphol. 197(2), 159–181 (1988)
13. Kano, T., Ishiguro, A.: Obstacles are beneficial to me! Scaffold-based locomotion
of a snake-like robot using decentralized control. In: 2013 IEEE/RSJ International
Conference on Intelligent Robots and Systems, pp. 3273–3278. IEEE (2013)
14. Kano, T., Yoshizawa, R., Ishiguro, A.: Tegotae-based decentralised control scheme
for autonomous gait transition of snake-like robots. Bioinspir. Biomimet. 12(4),
046009 (2017)
15. Liljeback, P., Pettersen, K.Y., Stavdahl, Ø., Gravdahl, J.T.: Experimental investigation of obstacle-aided locomotion with a snake robot. IEEE Trans. Rob. 27(4),
792–800 (2011)
P. E. Schiebel et al.
bilateral activation of their muscles to generate and propagate waves along their
body (e.g. C. elegans [3]). Therefore, we can use our robot (whose dynamics are
highly damped [19]) to test the bilateral actuation scheme in undulators across
different length scales and terrains. We expect that future limbless robots can
take advantage of the principles discovered in our robophysical model.
References
1. Astley, H.C., et al.: Side-impact collision: mechanics of obstacle negotiation in
sidewinding snakes. bioRxiv (2020)
2. Bayraktaroglu, Z.Y., Kilicarslan, A., Kuzucu, A., Hugel, V., Blazevic, P.:
Design and control of biologically inspired wheel-less snake-like robot. In: The
First IEEE/RAS-EMBS International Conference on Biomedical Robotics and
Biomechatronics, 2006, BioRob 2006, pp. 1001–1006. IEEE (2006)
3. Butler, V.J., et al.: A consistent muscle activation strategy underlies crawling
and swimming in caenorhabditis elegans. J. Roy. Soc. Interface 12(102), 20140963
(2014)
4. Cowan, N.J., Lee, J., Full, R.J.: Task-level control of rapid wall following in the
american cockroach. J. Exp. Bio. 209(9), 1617–1629 (2006)
5. Gans, C.: Locomotion of limbless vertebrates: pattern and evolution. Herpetologica
42(1), 33–46 (1986)
6. Hirose, S.: Biologically Inspired Robots: Snake-Like Locomotors and Manipulators.
Oxford University Press, Oxford (1993)
7. Hopkins, J.K., Spranklin, B.W., Gupta, S.K.: A survey of snake-inspired robot
designs. Bioinspir. Biomimet. 4(2), 021001 (2009)
8. Hu, D.L., Nirody, J., Scott, T., Shelley, M.J.: The mechanics of slithering locomotion. Proc. Nat. Acad. Sci. USA 106(25), 10081–10085 (2009)
9. Ijspeert, A.J.: Central pattern generators for locomotion control in animals and
robots: a review. Neural Netw. 21(4), 642–653 (2008)
10. Ijspeert, A.J., Crespi, A., Ryczko, D., Cabelguen, J.M.: From swimming to walking
with a salamander robot driven by a spinal cord model. Science 315(5817), 1416–
1420 (2007)
11. Inoue, K., Nakamura, K., Suzuki, M., Mori, Y., Fukuoka, Y., Shiroma, N.: Biological system models reproducing snakes’ musculoskeletal system. In: 2010 IEEE/RSJ
International Conference on Intelligent Robots and Systems, pp. 2383–2388. IEEE
(2010)
12. Jayne, B.C.: Muscular mechanisms of snake locomotion: an electromyographic
study of lateral undulation of the florida banded water snake (nerodia fasciata)
and the yellow rat snake (elaphe obsoleta). J. Morphol. 197(2), 159–181 (1988)
13. Kano, T., Ishiguro, A.: Obstacles are beneficial to me! Scaffold-based locomotion
of a snake-like robot using decentralized control. In: 2013 IEEE/RSJ International
Conference on Intelligent Robots and Systems, pp. 3273–3278. IEEE (2013)
14. Kano, T., Yoshizawa, R., Ishiguro, A.: Tegotae-based decentralised control scheme
for autonomous gait transition of snake-like robots. Bioinspir. Biomimet. 12(4),
046009 (2017)
15. Liljeback, P., Pettersen, K.Y., Stavdahl, Ø., Gravdahl, J.T.: Experimental investigation of obstacle-aided locomotion with a snake robot. IEEE Trans. Rob. 27(4),
792–800 (2011)