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Updated: Jan 10, 2026
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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
Published on: June 10, 2020
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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.
Soft Robotics
|November 26, 2025
Summary
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.
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.
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