ARCSnake V2: An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot
🤖 AI Summary
To address mobility limitations of conventional wheeled and legged robots on highly variable terrains—such as caves, deep-sea floors, and extraterrestrial surfaces—this paper proposes an amphibious multi-domain screw-propelled serpentine robot. The method integrates high-redundancy serial screw units with joint actuation, combining Archimedean screw propulsion with hermetically sealed mechanical design; it further incorporates buoyancy regulation, force-feedback control, and wireless teleoperation to enable seamless locomotion-mode transitions across terrestrial, granular, and aquatic domains. Experimental validation demonstrates superior cross-domain traversability, underwater maneuverability, communication stability, and force-controlled operational precision. The robot thus establishes a novel paradigm for autonomous exploration, search-and-rescue operations, and in-situ environmental monitoring in complex, unstructured environments.
Application Category
📝 Abstract
Robotic exploration in extreme environments such as caves, oceans, and planetary surfaces pose significant challenges, particularly in locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in these contexts due to surface variability. This paper presents ARCSnake V2, an amphibious, screw propelled, snake like robot designed for teleoperated or autonomous locomotion across land, granular media, and aquatic environments. ARCSnake V2 combines the high mobility of hyper redundant snake robots with the terrain versatility of Archimedean screw propulsion. Key contributions include a water sealed mechanical design with serially linked screw and joint actuation, an integrated buoyancy control system, and teleoperation via a kinematically matched handheld controller. The robots design and control architecture enable multiple locomotion modes screwing, wheeling, and sidewinding with smooth transitions between them. Extensive experiments validate its underwater maneuverability, communication robustness, and force regulated actuation. These capabilities position ARCSnake V2 as a versatile platform for exploration, search and rescue, and environmental monitoring in multi domain settings.
Problem
Research questions and friction points this paper is trying to address.
Developing amphibious snake robot for multi-terrain locomotion challenges
Overcoming surface variability limitations in extreme environments
Enabling seamless transitions between land, granular, and aquatic domains
Innovation
Methods, ideas, or system contributions that make the work stand out.
Amphibious snake robot with screw propulsion
Water-sealed design with buoyancy control system
Multiple locomotion modes with smooth transitions
🔎 Similar Papers
No similar papers found.
