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Soft Robotic Snake Locomotion on Curved Surfaces.

Dimuthu D K Arachchige1,2, Dulanjana M Perera3, Umer Huzaifa2

  • 1Department of Computer Science, Hampton University, Hampton, Virginia, USA.

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|November 26, 2025
PubMed
Summary
This summary is machine-generated.

Soft robotic snakes (SRSs) offer new solutions for navigating curved surfaces. Novel gaits and grip control models enhance stability and locomotion in challenging environments like pipes.

Keywords:
curved surfacekinematicslocomotionsoft robotic snakes

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Area of Science:

  • Robotics
  • Bio-inspired Engineering
  • Locomotion Science

Background:

  • Traditional rigid robotic snakes struggle with uniform force distribution on curved surfaces.
  • Soft robotic snakes (SRSs) offer potential for enhanced adaptability and continuous contact.

Purpose of the Study:

  • To explore the locomotion capabilities of soft robotic snakes (SRSs) on curved surfaces.
  • To develop and validate novel locomotion strategies and grip control for SRSs.

Main Methods:

  • Introduction of a novel, parameterized locomotion gait for curved terrain.
  • Development of a mathematical model for adjusting distributed contact gripping force.
  • Experimental validation using an SRS prototype.

Main Results:

  • The proposed locomotion gait effectively enables SRSs to navigate curved surfaces.
  • The grip control model enhances stability and locomotion performance.
  • Experimental results confirm the viability and robustness of the developed strategies.

Conclusions:

  • Soft robotic snakes demonstrate significant potential for navigating complex, curved environments.
  • The developed locomotion strategies and grip control are effective for SRSs in challenging terrains.
  • Findings support SRS applications in pipelines, ducts, and confined spaces.