In this work we present a technique to select the best robot for accomplishing a task assuming that the map of the environment is known in advance. To do so, capabilities of the robots are listed and the environments where they can be used are mapped. There are five robots that included for doing the tasks. They are the robotic lizard, half-humanoid, robotic snake, biped and quadruped. Each of these robots are capable of performing certain activities and also they have their own limitations. The process of considering the robot performances and acting based on their limitations is the focus of this work. The wavefront algorithm is used to find the nature of terrain. Based on the terrain a suitable robot is selected from the list of five robots by the wavefront algorithm. Using this robot the mission is accomplished.

Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their rigid-bodied counterparts. Without wheel support, to date, soft robotic snakes are limited to emulating planar locomotion gaits, which are derived via kinematic modeling and tested on robotic prototypes. Given that the snake locomotion results from the reaction forces due to the distributed contact between their skin and the ground, it is essential to investigate the locomotion gaits through efficient dynamic models capable of accommodating distributed contact forces. We present a complete spatial dynamic model that utilizes a floating-base kinematic model with distributed contact dynamics for a pneumatically powered soft robotic snake. We numerically evaluate the feasibility of the planar and spatial rolling gaits utilizing the proposed model and experimentally validate the corresponding locomotion gait trajectories on a soft robotic snake prototype. We qualitatively and quantitatively compare the numerical and experimental results which confirm the validity of the proposed dynamic model.

Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to planar movements or use wheels to achieve locomotion, which restricts their ability to imitate the full range of biological snake movements. We propose a new design for the SRSs that is wheelless and powered by pneumatics, relying solely on spatial bending to achieve its movements. We derive a kinematic model of the proposed SRS and utilize it to achieve two snake locomotion trajectories, namely sidewinding and helical rolling. These movements are experimentally evaluated under different gait parameters on our SRS prototype. The results demonstrate that the SRS can successfully mimic the proposed spatial locomotion trajectories. This is a significant improvement over the previous designs, which were either limited to planar movements or relied on wheels for locomotion. The ability of the SRS to effectively mimic the complex movements of biological snakes opens up new possibilities for its use in various applications.

BEGIN ARTICLE PREVIEW: Researchers in Australia take inspiration from nature to create a soft-robotic gripper that moves away from the conventional hand-like design. Soft robots is a burgeoning field combining electrical engineering and materials science to create robots that can move without the traditional use of motors, cogs, hinges, and other joining parts. Instead, movement and actuation come from the properties of the materials themselves, for example, a single piece of material changing shape upon external stimuli such as light, pressure, or electrical current. As we learn more about these materials, scientists are getting better at designing soft robots that move in more precise, pre-designed ways. Now, a team the University of New South Wales Sydney, have made a soft robot inspired by natures. Namely, snakes. Publishing in Advanced Materials Technologies, the researchers made a material that behaves in a similar way to a snake’s body, or ele

Don't be shocked if you see a mechanical snake swimming around undersea equipment in the near future... it (probably) isn't there to kill you. Eelume, Kongsberg Maritime and Statoil are building a robotic snake worker that will inspect (and occasionally fix) underwater gear. Robot snakes are nothing new, but this serpent is both production-ready and almost uncanny in how it moves. Throw in thrusters, however, and it's something else -- it can quickly twist around pipes as if they were only minor obstacles.