Bioinspired Design and Experimental Validation of an Aquatic Snake Robot

Area of Science:

• Robotics
• Marine Engineering
• Autonomous Systems

Background:

• Modular robotic systems offer enhanced adaptability and maintainability.
• Aquatic snake robots present unique advantages for navigating complex underwater environments.
• Autonomous navigation and obstacle avoidance are critical for effective marine robotic operations.

Purpose of the Study:

• To design, simulate, and experimentally validate a novel modular aquatic snake robot.
• To enable autonomous surface locomotion, including high-speed propulsion and steering.
• To implement and test obstacle detection and avoidance capabilities for dynamic environments.

Main Methods:

• Modular design with independently functioning units.
• Material Point Method with Moving Least Squares (MPM-MLS) for dynamic simulation.
• Development and implementation of a control algorithm for autonomous navigation.

Main Results:

• Successful experimental validation of the modular aquatic snake robot.
• Demonstrated high-speed swimming capabilities and maneuverability.
• Effective obstacle detection and avoidance in simulated and real-world tests.

Conclusions:

• The modular aquatic snake robot is a viable solution for various marine tasks.
• The robot's design facilitates adaptability and ease of maintenance in diverse aquatic settings.
• This advancement offers a versatile platform for environmental monitoring and search and rescue operations.