Frictional Properties of a Novel Artificial Snakeskin for Soft Robotics

Abstract

Although snake-like robots are only rarely used in real applications, numerous designs have been proposed by different researchers. In addition to the capability of grasping objects by bending their body around them, snakes travel in various environments by using different gaits. To move forward, they need a skin which provides friction anisotropy to the ground. The designs of snake-like robots vary in their actuation mechanism as well as in the design of their artificial skin. In this work, we present a novel design of an artificial snakeskin. The design is related to an application in soft robotics, but is not restricted to this type of robot. Since soft robots are flexible and can stretch, our artificial skin is also able to. It is inspired by the belly of snakes and provides friction anisotropy in forward-reverse direction. To achieve this, we embed scales with a specific angle of attack into a flexible base body. In the experimental investigation of the artificial snakeskin, we determine the friction anisotropy for two base body materials with different stiffness and for three angles of attack. Although the development of the artificial skin is at an early stage, the results of the experimental investigation are promising. The dynamic behavior of the artificial snakeskin indicates that a flexible base material reduces friction in forward direction and increases friction in reverse direction, thus enhancing friction anisotropy. Furthermore, the results obtained give important information for further design improvements in future.Presentation of a modular and stretchable artificial snakeskin Systematic investigation of the frictional properties when changing the angle of attack of the scales and the softness of the base material the scales are embedded in A soft base material increases friction anisotropy and reduces inaccuracies of hand manufacturing Demonstration of a soft robotic actuator which uses the artificial snakeskin for crawling.