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Snakebot
Snakebot
INTRODUCTION
A snake robot is a power tool that can crawl to a job site on its own, parts in tow, and
then carry out its assigned task. Snakebots are named such because of their ability to move
like biological snakes. A snakebot is a biomorphic hyperredundant robot that resembles a
snake. Snake robots come in all shapes and sizes, from the three meters long, fire fighting
snakebot developed by SINTEF, to a medical snakebot developed at Carnegie Mellon
University that is thin enough to maneuver around organs inside a human chest cavity.
Though snakebots can vary greatly in size and design, there are two qualities that all
snakebots share. First, their small cross section to length ratio allows them to move into, and
maneuver through, tight spaces. Second, their ability to change the shape of their body
allows them to perform a wide range of behaviours, such as climbing stairs or tree trunks.
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It's it's easy to modify and repair because it's a repeating series of hinged segments.
Think of an electric train: just add on as many cars as you want, and take off any you don't
need. That's how a snakebot is arranged. Some of the modules on a snakebot can be
duplicates. That way, if one area develops a problem, a new element can be snapped into its
place. That makes maintaining and repairing the robot very manageable, especially in space
where a repair shop isn't handy. Additionally, many snake robots are constructed by chaining
together a number of independent links. This redundancy makes them resistant to failure,
because they can continue to operate even if parts of their body are destroyed. Furthermore,
they can change their shapes in order to accomplish different tasks such as digging under the
soil, climbing over obstacles, moving around a different environment, etc.
APPLICATIONS
Snakebots are most useful in situations where their unique characteristics give them an
advantage over their environment. These environments tend to be long and thin like pipes or
highly cluttered like rubble. Thus snakebots are currently being developed to assist search
and rescue teams.
Furthermore, when a task requires a number of different obstacles to be overcome, the
locomotive flexibility of snakebots makes them good candidates. For example, if you need a
robot to carry a camera to the top of a tree that is growing in water you have to do three
things: move over ground to the water's edge, swim to the tree, and then climb the tree. You
could make a robot that does any one of those three very well, but being able to do all three,
and many other difficult combinations, is what makes snake robots exceptional.
Also, snakebots can be used by animal control officers to subdue rabid or invasive
creatures. Raccoons, barn cats, and large rodents typically respond to the snakebot's
presence with attacks upon which the snakebot will emit an electrical shock and paralyze
the aggressor.
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LOCOMOTION
Traditional snakebots locomote purely by changing the shape of their body, just like
snakes. Many variants have been created which use wheels or treads for locomotion. As of
yet, no snakebots have been developed that can completely mimic the locomotion of real
snakes, but researchers have been able to produce ways of moving that do not occur in
nature.
When researchers refer to how a snakebot moves they often refer to a specific gait,
where a gait is just a periodic mode of locomotion. For example, sidewinding and lateral
undulation are both gaits. Snakebot gaits are often designed by investigating period changes
to the shape of the robot. You can think of a caterpillar moving by changing the shape of its
body to match a sinusoidal wave. Similarly, snakebots can move by adapting their shape to
different periodic functions.
WORKING OF SNAKEBOT
Snakes are unique creatures in that their bodies allow them to get into the cracks and
crevices of the world that most other creatures cannot. Lacking rigid skeletons and
extremities, snakes can contort their bodies in order to get into tiny holes, wrap around tree
branches and slither over otherwise unmanageable rocks. These serpentine qualities are the
inspiration for a new type of robotic, interplanetary probe, called a snakebot, being
developed by engineers at NASA's Ames Research Center.
Since 1964, NASA has sent 10 robotic explorers to fly by, orbit or rove around Mars,
but snakebots will give scientists an unprecedented look at the Martian landscape.
Snakebots, which could be ready by 2005, will be able to dig into the loose soil of Mars and
burrow down to depths that other robotic probes can't get to. They can slither into the cracks
of the planet's surface. "A snakebot could navigate over rough, steep terrain where a
wheeled robotic rover would likely get stuck or topple,". Snakebots are expected to be more
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durable and cheaper than any probe that has ever been sent to investigate a planet.
SNAKEBOT ANATOMY
Snakebots are unlike any robotic probe ever to be used for space missions. In order for a
robot to mimic the movements of a biological snake, some special design features have to be
used. NASA's snakebots are a model of the polybot developed by Mark Yim of Xerox Palo
Alto Research Center. Polybots are robots that are able to change their shape in order to
perform a variety of tasks. Snakebots will slither and dig underneath the soil for geological
surveying, or coil up to carry tools for construction in space.
The main body of a snakebot consists of about 30, identical, hingelike modules that
are linked together in a chain. These modules are connected by a central spine and work
together to perform various functions. The snakebot frame will be constructed out of a
polycarbonate material and covered by an artificial skin to protect it from the Martian
elements. Here's a closer look at a snakebot's architecture and individual modules:
Electronics : Each snakebot will have a central computer, possibly located in the snakebot's
head, that works in conjunction with smaller computers in each module. Wires will connect
each module to its neighboring modules, creating a network of modules that work together
as a unit. The wiring will also carry communications and power to and from the computer
brain.
Microcontrollers : These tiny computers will interpret signals from the main computer to
control movement. In later models, they may be connected to a set of sensors to provide
reflexes.
Sensors : In later models, strain sensors may be added to the robot's metalrib frame. These
sensors will indicate if the snake is in contact with anything, where it's touching it and how
hard the contact is.
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Motors : Two servomotors, which are like offtheshelf hobby motors, will be used to move
the various parts in each module. Each motor will be activated by a signal from the main
processor.
Wheels : Each module will be equipped with one wheel. The wheel won't be wholly
responsible for transporting the snakebot, it will only used to ease movement.
Gears : Working in conjunction with the electronics, the gears will allow for movement of
the hinges. This will give the snake the ability to coil, sidewind and inchworm its way
across the ground or wrap around objects.
Camera : Small cameras attached to the snakebots will give NASA a neverbeforeseen
view of the red planet.
Connecting Rods : When one section begins to move, these balljointed connecting rods
will pull and activate the section next to it.
An upclose look at the snakebot modules :
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Snakebots will be able to limit the weight of the spacecraft ferrying them to space. The
snakelike design allows them to perform many tasks without a lot of extra equipment. One
of the many advantages of the snakebased design is that the robot is fieldrepairable. We
can include a bunch of identical spare modules with the snake on a space mission, and then
we can fix the snakebot much easier than a regular robot that needs specific parts.
Unlike past robotic probes, snakebot will be very cheap. In contrast to the $135million
Mars Odyssey that was launched on April 7, 2001, snakebots will probably cost only a few
hundred dollars each. In fact, the cost of the snakebot is so low that one researcher says there
is a possibility of developing a toy version.
SLITHERING ON OTHER WORLDS
Different types of snakes have different ways of moving through their environments,
including sidewinding, slithering and inchworming. Snakebots will be able to perform all
of those movements. They will also be able to coil and flip over in order to climb up and
over obstacles. So far, the test versions of the snakebot have been remote controlled.
Eventually, scientists will have to find ways to give these robots a form of intelligence so
that they can operate far from Earth.
The first robot does what we tell it to do, no matter what the results are. If it comes to
an obstacle, the robot will continue to try to go over it, even if the task is impossible. We
made the first, simple robot because we wanted a working snakebot in a day or two, a robot
that would help us to think about how a snakebot could and should move.
Work on a more advanced snakebot model, one that would be capable of independent
behavior, has already started. The key component of this intelligent snakebot is a sensor
based control. Sensors embedded into the snakebot's body would enable it to make
autonomous decisions about its movements. Part of that development will include writing
software that will allow the snakebot to learn from its own experience. Such lessons may
include how to crawl from soft to hard surfaces, how to go over rough terrain and how to
climb scaffolds and get into cracks. These abilities would help the robot look for fossils or
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water on another planet.
Another improvement that researchers hope to make is to give the snakebot muscles.
These artificial muscles would be made out of plastic or rubber material that would bend
when electricity is applied. This would lower the snake's weight and make it tough "like an
automobile tire," Haith says. One day, an army of these little snakebots could land on Mars
and crawl off a lander spacecraft to perform deep searches of the planet. They might even
begin to build a base for a future human colony.
CLIMBING SNAKEBOT
Snakelike robots that can climb scaffolding to inspect highrise construction sites, bend
at will to defuse roadside bombs or roll down your esophagus to peer at your digestive tract
may soon be lending construction workers, soldiers and doctors a flexible hand. Among the
growing menagerie of crawling, scuttling, swimming and slithering robots, researchers have
developed a collection of articulated snakebots that reach beyond the usual repertoire of
biological motion by literally rolling up or down obstacles.
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Dennis Hong, director of the Robotics & Mechanisms Laboratory (RoMeLa) at Virginia
Tech in Blacksburg, Va., said most snakeinspired robots have been engineered for
sidewinding or other groundbased locomotion. Likewise, his lab’s HyDRASAscent
prototype (or Hyperredundant Discrete Robotic Articulated Serpentine) can unfold and
move around on the ground.But the big idea behind the 3footlong snakebot was to use
flexible universal joints to let the mechanical snake roll up poles, scaffolds and other
structures.
Snakebots equipped with builtin cameras and sensors could take the place of workers
in performing dangerous tasks like visual inspections of highrises or bridge piers.
COMPONENT OF A SNAKEBOT
• Central Command
A snakebot has a central computer which is responsible for communicating with the
smaller computers on each of the attached modules. The central computer is the origin of
commands and is responsible for coordinating the modules in performing a task. The
modules are connected to by wires to create a network.
• Microcontrollers
These are the smaller computers that are on each module of the Snakebot. They will
be responsible for controlling the individual module and interpreting the commands from
the main computer. They are connected to sensors to provide reflexes.
• Other Components
Additional sensors added to the snakebot make it adaptable to its environment and
enable it to learn from its experience and respond to any changes.two servomotors provide
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movement for the different parts in a module. These motors are controlled directly by the
main processor and in part by the module computer.Wheels, much like the scales on a
biological snake, are used for ease of movement. The gears are used to move the hinges
between the individual modules. These give the snakebot the ability to change its shape
depending on the task at hand. The camera will be used to record videos and pictures for
documenting purposes.
ADVANTAGES OF SNAKEBOT
• Light Weight, Less Maintenance and Repairs
Since the Snakebot's design enables it to perform a variety of tasks, this means that
fewer specialized equipments will need to be brought along in a mission. Fewer equipments
mean less weight. The module design of the Snakebot also means that repairing it will be as
easy as replacing the defective module on the chain with spare modules. This saves repair
and maintenance time.
• Cost
Snakebots, unlike the probes used in past missions, require much less money to
manufacture. In fact, manufacturers are planning to sell snakebot toys since they only cost a
few hundred dollars each as compared to the $135 million for the Mars Oddysey.
• Ability to Perform more Tasks
Snakebots will also be a lot more adaptive to any environments because of their design.
Because they can change their shapes, they will be able to explore different worlds with
more efficiency than the past probes. They can coil around objects, flip to get over
obstacles, dig, burrows, slither across any landscape and squeeze into tiny openings to get
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any assigned task done.
ROBOTIC SNAKE IMAGES
One of the first steps was to make a simple mechanical test snake, and we constructed
it in less than a day thanks to previous work at other labs. The test snake has a wire that
carries communications and power to and from the computer brain. All of the identical
hingelike modules are easy to make, and we attached the snake segments together in a
chain. It has offtheshelf hobby motors in its hinged segments that cause it to move.
Each of the many motors takes a signal from the snake’s main computer brain. Our first
test robot does what we tell it to do, no matter what the results are. If it comes to an obstacle,
the robot will continue to try to go over it, even if the task is impossible. We made the first,
simple robot because we wanted a working snakebot in a day or two, a robot that would help
us to think about how a snakebot could and should move.
Robotic serpents can "inchworm" ahead, can flip themselves backward over low
obstacles, can coil and can sidewind. "Future work will enable the snake to become a mast
or a grasping arm. A rover would need to have a dedicated mast and arm that would cost
extra weight, money and time."
A snakebot is not as good at some jobs as other robots, but you get a lot more robot for
the weight and the money. The problem is it’s hard to tell the snakebot what to do. It is a
complex robot that must operate independently, possibly far from Earth. Work on our second
snakebot is aimed at making it capable of independent behavior.
The key part of what we are striving for in the second snakebot version and beyond is
sensorbased control in which the robot uses its sensors to decide what to do. We made two
little microcontrollers, tiny computers, that we put in each hinged section that also includes
a motor, electronics and gears to get the hinge to move to certain positions.
The snakebot will have a main computer that will tell its little computers in each
segment what to do in a higher, planning sense. The tiny computers in the segments could
provide "reflexes" that take care of simple, but important jobs. In the next couple of
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months, we hope to simulate the snakebot in a computer program so we can automatically
develop computer routines that can control the robot. Engineers have added strain sensors to
the robot on metal ribs inside the snake. "They will tell the snake whether or not it is
contacting anything, and where and how hard it is touching.
The snakebot can save spacecraft weight because the snakelike design enables the
robot to do many tasks without much extra equipment, according to engineers. "One of the
many advantages of the snakebased design is that the robot is fieldrepairable. We can
include a bunch of identical spare modules with the snake on a space mission, and then we
can fix the snakebot much easier than a regular robot that needs specific parts. "Other
benefits are: the snakebot can crawl off a spacecraft lander and doesn’t need a ramp, the
snake's moving parts can be sealed inside artificial skin to avoid exposure to the outside
environment and the robot can still function, even if one joint freezes."
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CONCLUSION
The development of snakelike robots is believed to be a solution for reducing the
number of injuries and deaths resulting from dangerous jobs. The benefits that result from
the implementation of the Snakebots will carry over into other sectors where Snakebots are
used instead of people or other robots for various tasks. NASA is planning on using
Snakebots to repair Space Shuttles instead of astronauts. In coming years, we hope to make
snakebot muscles out of artificial plastic or rubber materials that will bend when electricity
is applied to them. This design change will reduce the snake's weight considerably, and the
robot would be very robust, like an automobile tire. Snakebots are currently being
researched as a new type of robotic, interplanetary probe by engineers at the NASA Ames
Research Center.
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REFERENCE
• http://electronics.howstuffworks.com/snakebot.htm
• http://en.wikipedia.org/wiki/Snakebot
• http://electronics.howstuffworks.com/snakebot.htm
• http://www.techfaq.com/snakebot.shtml
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