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Related Experiment Video

Updated: Oct 19, 2025

Designing a Bio-responsive Robot from DNA Origami

Designing a Bio-responsive Robot from DNA Origami

Published on: July 8, 2013

A Snake-Inspired Layer-Driven Continuum Robot.

Guodong Qin¹, Aihong Ji¹, Yong Cheng²

¹Institute of Bio-inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, China.

|September 22, 2021

Summary

This study presents a novel snake-inspired continuum robot using underactuated joints and a layered-drive system. This design simplifies control and enables operation in complex environments like aerospace and nuclear facilities.

Keywords:

bionics design continuum robot layered drive special environment application trajectory planning

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Last Updated: Oct 19, 2025

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Area of Science:

Robotics
Mechanical Engineering
Control Systems

Background:

Continuum robots offer advantages in confined and obstacle-rich environments.
Existing designs often face complexities in control and actuation.

Purpose of the Study:

To develop a snake-inspired continuum robot with simplified control.
To validate the effectiveness of a layered-drive principle for multi-joint actuation.

Main Methods:

Simulating a snake's morphology with series rigid-body joints.
Employing a wire rope traction system for each joint.
Utilizing a layered-drive principle for synchronous angular motion.
Analyzing static and dynamic characteristics via torque balance and equivalent transformation.

Main Results:

Successful implementation of angular synchronous motion in space for multiple joints.
Reduced complexity in inverse kinematics, drive boxes, and control systems.
Demonstrated trajectory planning and load capacity in 1500mm and 2300mm prototypes.

Conclusions:

The layered-drive snake-inspired continuum robot structure is rational.
The control system for this robot is verified as correct.
The robot is suitable for applications in aerospace and nuclear facilities.