The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in th...

Most robotic technology tends to move in straight lines with set angles. Many robot designs using unidirectional motion have already been created; however, fewer developments have been made in creating curved patterns. The flexible S-shaped motion of snakes enables them to fit into otherwise inaccessible spaces, leading to potential applications in search and rescue missions and medicine. The a...

This paper presents multi-objective optimization for a snake robot with serpentine locomotion. Genetic algorithm (GA) is used to achieve two objectives: minimizing the total travelling time and energy consumption. The effect of initial values winding angle acceleration on consumption average speed depicted. simulation results show periodic pattern joint torques when maintains serpenoid curve du...

The snake venom´s thrombin-like enzymes comprise a number of serine proteases, which are functionally and structurally related to thrombin. Purification and partial characterization of a thrombin-like enzyme from the venom of the Iranian snake, Agkistrodon halys, was the aim of this study. Purification was carried out by a combination of variety of chromatographic methods that included: gel...

Robots can locomote using body motions; not wheels or legs. Natural analogues, such as snakes, although capable of such locomotion, are understood only in a qualitative sense and the detailed mechanics, sensing and control of snake motions are not well understood. Historically, mobile vehicles for terrestrial use have either been wheeled, tracked or legged. Prior art reveals several serpentine ...