FRICTION CONSIDERATIONS ON AN APODAL ROBOT MOVEMENT

Thaís França¹; Dianne Magalhães Viana¹; Carla Koike¹

¹ Universidade de Brasília (UnB)

doi:10.20906/CPS/CON-2016-0534

Resumo

The greatest difference between traditional and modular robotics is the ability to adapt to different and unexpected situations. Among them, the apodal types get a lot of attention. The apodal movement pattern came from snake observation and studies and have been applied to large number of called Snake Robots prototypes. But still, a perfect reproduction of the biological movements are still to be reached. One of the principal problems rest on a proper friction reproduction. Snake movement relies heavily on their anisotropic skin and flexible body. This paper looks into friction models already proposed, the literature of snake locomotion and search for structural solutions to be applied on a modular robots in order to reproduce an anisotropic friction model.

Palavras-chave: robótica modular; robô ápode; Atrito Aninsotrópico; movimento bioinspirado