TY - GEN
T1 - Standing on the water
T2 - 9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020
AU - Herault, Johann
AU - Clement, Etienne
AU - Brossillon, Jonathan
AU - Lagrange, Seth
AU - Lebastard, Vincent
AU - Boyer, Frederic
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2020.
PY - 2021
Y1 - 2021
N2 - We report an investigation aiming to understand the stability mechanisms of semi-aquatic snakes (like Cottonmouth viper or grass snakes) on a free water surface. To address this complex problem, we start by reviewing the specific morphological features of these snakes. Then, we analyse the poses of a semi-aquatic snake in its natural environment. We show that surface stability is achieved by complex combinations of all three rotational degrees of freedom of each vertebra. Based on a new theoretical model, a control law is developed to seek the finite body deformation from the strain (torsion and bending) to maintain an equilibrium stance (position and orientation). Our conclusions lead us to consider a new actuation mechanism based on a controlled rolling motion for each body segment in order to achieve static and dynamic positioning. During the conference, we will present our new swimming snake-like robot, named NATRIX, that can achieve static and dynamic positioning on a free water surface.
AB - We report an investigation aiming to understand the stability mechanisms of semi-aquatic snakes (like Cottonmouth viper or grass snakes) on a free water surface. To address this complex problem, we start by reviewing the specific morphological features of these snakes. Then, we analyse the poses of a semi-aquatic snake in its natural environment. We show that surface stability is achieved by complex combinations of all three rotational degrees of freedom of each vertebra. Based on a new theoretical model, a control law is developed to seek the finite body deformation from the strain (torsion and bending) to maintain an equilibrium stance (position and orientation). Our conclusions lead us to consider a new actuation mechanism based on a controlled rolling motion for each body segment in order to achieve static and dynamic positioning. During the conference, we will present our new swimming snake-like robot, named NATRIX, that can achieve static and dynamic positioning on a free water surface.
KW - Bio-inspired robotic
KW - Geometrically exact approach
KW - Semi-aquatic snake
UR - http://www.scopus.com/inward/record.url?scp=85107292316&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85107292316&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-64313-3_17
DO - 10.1007/978-3-030-64313-3_17
M3 - Conference contribution
AN - SCOPUS:85107292316
SN - 9783030643126
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 165
EP - 175
BT - Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings
A2 - Vouloutsi, Vasiliki
A2 - Mura, Anna
A2 - Verschure, Paul F. M. J.
A2 - Tauber, Falk
A2 - Speck, Thomas
A2 - Prescott, Tony J.
PB - Springer
Y2 - 28 July 2019 through 30 July 2019
ER -