Comments on “Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes”
LIU Jinguo1,2, GAO Yang2, WANG Yuechao1, MA Shugen1,3, LUO Yifan1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. STAR Lab, Surrey Space Centre, University of Surrey, Guildford GU2 7XH, UK;
3. Department of Robotics, College of Science and Engineering, Ritsumeikan University, Shiga-ken 525-8577, Japan
Comments on "Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes"
LIU Jinguo1,2, GAO Yang2, WANG Yuechao1, MA Shugen1,3, LUO Yifan1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. STAR Lab, Surrey Space Centre, University of Surrey, Guildford GU2 7XH, UK;
3. Department of Robotics, College of Science and Engineering, Ritsumeikan University, Shiga-ken 525-8577, Japan
LIU Jinguo, GAO Yang, WANG Yuechao, MA Shugen, LUO Yifan. Comments on “Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes”[J]. 机器人, 2015, 37(2): 254-256.DOI: 10.13973/j.cnki.robot.2015.0254.
LIU Jinguo, GAO Yang, WANG Yuechao, MA Shugen, LUO Yifan. Comments on "Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes". ROBOT, 2015, 37(2): 254-256. DOI: 10.13973/j.cnki.robot.2015.0254.
摘要
Marvi et al (Science, 2014, vol.346, p.224) concluded a sidewinder rattlesnake increases the body contact length with the sand when granular incline angle increases. They also claimed the same principle should work on robotic snake too. We have evidence to prove that this conclusion is only partial in describing the snake body-sand interaction. There should be three phases that fully represent the snake locomotion behaviors during ascent of sandy slopes, namely lifting, descending, and ceasing. The snake body-sand interaction during the descending and ceasing phases helps with the climbing while such interaction during the lifting phase in fact contributes resistance.
Marvi et al (Science, 2014, vol.346, p.224) concluded a sidewinder rattlesnake increases the body contact length with the sand when granular incline angle increases. They also claimed the same principle should work on robotic snake too. We have evidence to prove that this conclusion is only partial in describing the snake body-sand interaction. There should be three phases that fully represent the snake locomotion behaviors during ascent of sandy slopes, namely lifting, descending, and ceasing. The snake body-sand interaction during the descending and ceasing phases helps with the climbing while such interaction during the lifting phase in fact contributes resistance.
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