ArticleBiomimetics (Basel, Switzerland)2024
Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators.
Article in Biomimetics (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed, 20 citations in OpenAlex.
- Recent Advances in Dielectric Elastomer Actuator-Based Soft Robots: Classification, Applications, and Future Perspectives.Gels (Basel, Switzerland) · 2025Review
- Review
- Modular Snake-like Robot Designed for On-Site Reconfiguration in Space Exploration.Biomimetics (Basel, Switzerland) · 2025Article
- Data-Based Modeling and Control of a Single Link Soft Robotic Arm.Biomimetics (Basel, Switzerland) · 2025Article
- Origami-Inspired Vacuum-Actuated Foldable Actuator Enabled Biomimetic Worm-like Soft Crawling Robot.Biomimetics (Basel, Switzerland) · 2024Article
- Design, Modeling, and Experimental Validation of an Active Microcatheter Driven by Shape Memory Effects.Micromachines · 2024Article
- Shape Memory Alloys Patches to Mimic Rolling, Sliding, and Spinning Movements of the Knee.Biomimetics (Basel, Switzerland) · 2024Article
Corrections and comments
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Authors and funding
4 authors at 1 institution in 1 country.
Funding
Abstract
This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist-antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.