Scribd
Upload
570 views22 pages

Snake Robotics: by Rohit Raichura Sowmya

Snake robots are a type of robot that mimics the movement of snakes. They have multiple joints which allow for flexibility and the ability to navigate complex terrain. Snake robots have a low center of gravity, making them stable as they move. Their smooth, cylindrical bodies aid in propulsion by using environmental irregularities for traction. Some applications of snake robots include bomb disposal, search and rescue, surgery, and fighting fires in hazardous environments where traditional robots cannot access. Artificial intelligence is used to control the movement and guide snake robots through various environments.

Uploaded by

Rohit Raichura
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
570 views22 pages

Snake Robotics: by Rohit Raichura Sowmya

Snake robots are a type of robot that mimics the movement of snakes. They have multiple joints which allow for flexibility and the ability to navigate complex terrain. Snake robots have a low center of gravity, making them stable as they move. Their smooth, cylindrical bodies aid in propulsion by using environmental irregularities for traction. Some applications of snake robots include bomb disposal, search and rescue, surgery, and fighting fires in hazardous environments where traditional robots cannot access. Artificial intelligence is used to control the movement and guide snake robots through various environments.

Uploaded by

Rohit Raichura
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 22

SNAKE ROBOTICS

By
Rohit Raichura
Sowmya
TOPICS
 ABSTRACT
 FIELDS OF AI
 INTRODUCTION TO SNAKE
ROBOTCIS
 SNAKE ROBOTICS
 APPLICATIONS
 CONCLUSION
ABSTRACT

Snake Robotic it is one of the


applications of AI. A snake robot can traverse
cluttered and irregular environments by using
irregularities around its body as pushpoints to
aid the propulsion. This is denoted obstacle-
aided locomotion and requires the snake robot to
have two features: 1) a smooth exterior surface
combined with 2) a contact force sensing system.
FIELDS
 Automation.
 Cybernetics.
 Hybrid intelligent system.
 Intelligent agent.
 Intelligent control.
 Automated reasoning.
 Data mining.
 Behavior-based robotics.
 Cognitive robotics.
 Developmental robotics.
 Evolutionary robotics.
 Chatbot.
 Knowledge Representation.
 Snake Robotics.
INTRODUCTION
In an effort to relieve the burden of time consuming
activities, a versatile robot is required to follow in man's footsteps.
Commonly, robotic vehicles use a wheel and axle propulsion system,
but this is often debilitating when traveling on variable terrain.

For instance, wheel-based propulsion system must be


specially designed to ascend steps. It is virtually impossible for them
to climb ladders. The more simple and often overlooked sinusoidal
motion of a snake is a less obvious solution, but has tremendous
advantages when navigating variable terrain. Snakes can use their
entire body for propulsion, creating a larger surface area and
providing greater traction.

Their low center of gravity creates stability, lacking in


legged and wheeled systems.
SNAKE ROBOTICS
SNAKE ROBOTICS
 Snake robots are a new type of robots, known
also as serpentine robots. As the name suggests,
these robots possess multiple actuated joints thus
mulitple degrees of freedom. This gives them
superior ability to flex, reach, and approach a
huge volume in its workspace with infinte
number of configurations. This redundance in
configurations gives them the technical name:
hyper redundant robots.
STRUCTURE:-

Top View Bottom View


MECHANISM

Snake Robot has a low center of mass since its body stays in
close contact with the ground. This creates more stability since the
snake cannot fall over while moving like walking animals.

The snake obtains mobility by repeatedly altering its body


shape. Beginning with the work of Shiego Hirose and his Active Cord
Mechanisms (ACM) in the 1970's, the modeling and biological mimicry
advanced with the development of systems like the formulation of
“serpenoid curve”, Geogory Chirikjian’s approach to motion planning,
Burdick and Jim Ostrowski’s motion planning using geometric
mechanics and in recent years, Howie Choset’s snake robot frontier.
Top view of snake section
cos 22.5 =x/2
x=2/cos 22.5
= .828
=1cm

vertical collision
tan 22.5 = alpha/4.5
4.5 tan 22.5 = alpha
1.86cm = alpha
L/2 = 2 + alpha
= 3:86
universal joint
sin 22.5 = d/alpha
alpha sin 22.5 = d
2.296 = d

Estimated Weight
•The weight of a snake robot should be around 3.43 kg with a torque
of 5v.
•The length of it will be around 3cms long in worst case.
•The larger snake robots may weigh from 4.57kgs to around 70kgs like
that of Anna konda.
USE OF AI IN FIELD OF SNAKE
ROBOTICS

The intelligence on this snake is designed to be expandable and


is entirely onboard and self supporting. The CPU of the snake is a
PIC16F876.This is a powerful, but an inexpensive microprocessor. This
microprocessor executes five million instructions per second and can
store up to 8k bytes of instructions on its flash memory. The CPU is
programmed with very basic moving algorithms. These algorithms
include turning, climbing over an obstacle, and sliding down an
obstacle. The movement of the snake will be controlled by a sine
function.

Cpu the Brain provides all intelligence, commanding the


attached devices. Kevin Dowling's design allows the snake to move in
two dimensions of motion. The advantage of this design is that it
provides 180 degrees of motion.
TYPES OF ROBOTICAL SNAKES :-

Pneumatic

Omni Thread

Elephant Trunk
Jpl Serpentine
ANNA KONDA

Anna Konda is a robotic fire hose moving like a snake. This robot, which has
been developed in Norway by SINTEF, is 3 m long and weighs 70 kg. The
snake contains 20 water hydraulic motors that move the robotic joints. And
the energy needed to power these motors comes from water pressurized to
100 bars and already available inside the fire house
DETAILED VIEW OF ANNA KONDA
SNAKE ROBOT:-
He “Pål Liljebäck” is the inventor
of Anna Konda Robot .He is from
SINTEF and NTNU (Norwegian University of
Science and
Technology) in Trondheim ,
Norway.
Water hydraulic cylinders Water hydraulic valves
Spraying water
Skin plates
OBJECTIVE OF SNAKE ROBOTICS:-
 To construct a twelve segment snake robot. The
robot will be able to move in three dimension. This non
planar mobility allows it to negotiate both around and
over obstacles. A self contained intelligence system will
be carried on board the robot. The intelligence will be
capable of guiding the snake through available
environment. Power will be supplied externally.
APPLICATIONS:-
 Industry:
 Nuclear
 Aerospace

 Automotive

 Security and defense


 Bomb disposal
 Search and rescue

 Robotic surgery
 Endoscopy
 Colonoscopy

 Neurosurgery
CONCLUSION :-
We conclude that if the machine could successfully pretend to
be human to a knowledgeable observer then you certainly should
consider it intelligent. Thus the snake robot which has a wide variety
of applications: fighting fires where humans can not enter due to heat
or the risk of building collapse; underwater operations in connection
with maintenance of oil installations on the sea floor; rescue
operations in earthquake areas and potentially explosive situations, is
considered to be the one of the most important and useful
application of AI.

AI is an exciting and rewarding discipline. AI is branch of


computer science that is concerned with the automation of
intelligent behavior. The revised definition of AI is - AI is the
study of mechanisms underlying intelligent behavior through the
construction and evaluation of artifacts that attempt to enact
those mechanisms. So it is concluded that it work as an artificial
human brain which have an unbelievable artificial thinking power.
THANK
YOU
QUERIES????

You might also like