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Biomimetics
Volume 7
Issue 4
10.3390/biomimetics7040223
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Article

A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots

by
Elie Gautreau
1,*,
Xavier Bonnet
2,
Juan Sandoval
1,
Guillaume Fosseries
2,
Anthony Herrel
3,
Marc Arsicault
1,
Saïd Zeghloul
1 and
Med Amine Laribi
1
1
Department of GMSC, Pprime Institute, University of Poitiers, CNRS, ISAE-ENSMA, UPR 3346 Poitiers, France
2
CEBC Center of Biological Studies of Chizé, CNRS & University of La Rochelle, Villiers-en-Bois, UMR 7372 Deux-Sèvres, France
3
MNHN National Museum of Natural History, CNRS, UMR 7179 Paris, France
*
Author to whom correspondence should be addressed.
Biomimetics 2022, 7(4), 223; https://doi.org/10.3390/biomimetics7040223
Submission received: 3 November 2022 / Revised: 26 November 2022 / Accepted: 30 November 2022 / Published: 3 December 2022
(This article belongs to the Special Issue Biorobotics)
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Abstract

Replicating animal movements with robots provides powerful research tools because key parameters can be manipulated at will. Facing the lack of standard methods and the high complexity of biological systems, an incremental bioinspired approach is required. We followed this method to design a snake robot capable of reproducing the natural swimming gait of snakes, i.e., the lateral undulations of the whole body. Our goal was to shift away from the classical broken line design of poly-articulated snake robots to mimic the far more complex fluid movements of snakes. First, we examined the musculoskeletal systems of different snake species to extract key information, such as the flexibility or stiffness of the body. Second, we gathered the swimming kinematics of living snakes. Third, we developed a toolbox to implement the data that are relevant to technical solutions. We eventually built a prototype of an artificial body (not yet fitted with motors) that successfully reproduced the natural fluid lateral undulations of snakes when they swim. This basis is an essential step for designing realistic autonomous snake robots.
Keywords: snake robot; biomimicry; compliant mechanism; design; motion analysis snake robot; biomimicry; compliant mechanism; design; motion analysis

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MDPI and ACS Style

Gautreau, E.; Bonnet, X.; Sandoval, J.; Fosseries, G.; Herrel, A.; Arsicault, M.; Zeghloul, S.; Laribi, M.A. A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots. Biomimetics 2022, 7, 223. https://doi.org/10.3390/biomimetics7040223

AMA Style

Gautreau E, Bonnet X, Sandoval J, Fosseries G, Herrel A, Arsicault M, Zeghloul S, Laribi MA. A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots. Biomimetics. 2022; 7(4):223. https://doi.org/10.3390/biomimetics7040223

Chicago/Turabian Style

Gautreau, Elie, Xavier Bonnet, Juan Sandoval, Guillaume Fosseries, Anthony Herrel, Marc Arsicault, Saïd Zeghloul, and Med Amine Laribi. 2022. "A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots" Biomimetics 7, no. 4: 223. https://doi.org/10.3390/biomimetics7040223

APA Style

Gautreau, E., Bonnet, X., Sandoval, J., Fosseries, G., Herrel, A., Arsicault, M., Zeghloul, S., & Laribi, M. A. (2022). A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots. Biomimetics, 7(4), 223. https://doi.org/10.3390/biomimetics7040223

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