Editing Snakebot

{{Short description|Snake-like robot}}
[[File:SnakeBot3.jpg|thumb|right|300px|A Gen 2 Snakebot from [[NASA]], demonstrating rearing capabilities.]]
A '''snakebot''', also referred to as a snake robot, is a [[biomorphic]] [[robot]] that resembles a [[snake]]. Snakebots have uses similar to those of certain types of [[Soft robotics|soft]] robots.<ref>{{Cite journal |last1=Seeja |first1=G. |last2=Arockia Selvakumar Arockia |first2=Doss |last3=Berlin Hency |first3=V. |date=8 September 2022 |title=A Survey on Snake Robot Locomotion |journal=IEEE Access |volume=10 |pages=112109–112110 |bibcode=2022IEEEA..10k2100S |doi=10.1109/ACCESS.2022.3215162 |doi-access=free}}</ref>

Snakebots can vary significantly in size and design. Their small cross-section-to-length ratios allow them to maneuver through tight spaces. Their ability to change shape allows them to traverse varied terrain.<ref>{{Cite journal |last1=Liu |first1=Jindong |last2=Tong |first2=Yuchuang |last3=Liu |first3=Jinguo |date=18 April 2021 |title=Review of snake robots in constrained environments |url=https://doi.org/10.1016/j.robot.2021.103785 |journal=Robotics and Autonomous Systems |volume=141 |doi=10.1016/j.robot.2021.103785 |issn=0921-8890 |via=Elsevier}}</ref>

Snake robots are often designed by connecting multiple independent segments, which provides [[Redundancy (engineering)|redundancy]] and enables continued operation even if some parts are damaged. Snakebots have been posited for a range of practical applications.<ref>{{cite book|last1=Transeth|first1=Aksel Andreas|last2=Pettersen|first2=Kristin Ytterstad|title=2006 9th International Conference on Control, Automation, Robotics and Vision |chapter=Developments in Snake Robot Modeling and Locomotion |author2-link= Kristin Ytterstad Pettersen |date=Dec 2006|pages=1–8|doi=10.1109/ICARCV.2006.345142|isbn=978-1-4244-0341-7|s2cid=2337372}}</ref><ref>{{cite book|last1=Liljebäck|first1=P.|last2=Pettersen|first2=K. Y.|author2-link= Kristin Ytterstad Pettersen |last3=Stavdahl|first3=Ø.|last4=Gravdahl|first4=J. T.|title=Snake Robots - Modelling, Mechatronics, and Control|publisher=Springer|date=2013|doi=10.1007/978-1-4471-2996-7 |series=Advances in Industrial Control|isbn=978-1-4471-2995-0}}</ref>

A snakebot differs from a [[snake-arm robot]] in that, snakebots are usually self-contained, whereas snake-arm robots typically have mechanics remote from the arm itself, possibly connected to a larger system.{{Citation needed|date=October 2024}}

==Applications==
By mimicking the locomotion of snakes, snakebots can be used for tasks in multiple industries that traditional robots or human workers may find challenging or impossible to accomplish safely.<ref>{{Cite web |title=Design and Motion Planning of a Mechanical Snake |url=https://ykoren.engin.umich.edu/wp-content/uploads/sites/122/2014/05/35.-Design-and-Motion-Planning-of-Mechanical-Snake.pdf |website=ykoren.engin.umich.edu}}</ref> Snakebots have been considered for the following applications:

* '''Search and rescue''': A snakebot was deployed for [[search and rescue]] after the [[2017 Puebla earthquake|September 2017 earthquake in Mexico City]].<ref name=cm>{{cite web |title=Carnegie Mellon Snake Robot Used in Search for Mexico Quake Survivors |url=https://www.cmu.edu/news/stories/archives/2017/september/snakebot-mexico.html |website=www.cmu.edu |language=en |date=September 27, 2017 |access-date=November 18, 2024}}</ref>
* '''Inspection and maintenance''': These robots can also be used for inspecting hard-to-reach areas, such as tubes, pipelines, bridges, and other infrastructure elements.<ref name=cm/>
* '''Medical applications''': In medical technology, miniature versions of Snakebots have been developed for endoscopic and minimally invasive procedures.<ref>{{cite web |last1=Solberg |first1=Eirik |title=Biorobotics Lab at CMU Creates Bio-inspired Snakebot |url=https://www.oemcameras.com/blog/biorobotics-lab-at-cmu-creates-bio-inspired-snakebot/ |date=20 September 2012}}</ref> An example is the medical snakebot developed at [[Carnegie Mellon University]], which is capable of maneuvering around organs inside a human chest cavity.<ref>{{Cite web |title=Medical Snake Robot |url=https://medrobotics.ri.cmu.edu/node/128447 |access-date=2024-10-23 |website=medrobotics.ri.cmu.edu}}</ref>
* '''Military and surveillance''': Due to their quiet, agile movement, snakebots are being considered for reconnaissance and surveillance tasks in military and defense settings.{{Citation needed|date=November 2024}}
* '''Space exploration''': Space agencies are exploring the use of snakebots to navigate extraterrestrial terrains, such as the rocky, uneven surfaces of Mars or the Moon,<ref>{{Cite web |title=JPL's Snake-Like EELS Slithers Into New Robotics Terrain |url=https://www.jpl.nasa.gov/news/jpls-snake-like-eels-slithers-into-new-robotics-terrain/ |access-date=2024-11-10 |website=NASA Jet Propulsion Laboratory (JPL) |language=en-US}}</ref><ref>{{Cite news |last=McDonald |first=Bob |date=May 12, 2023 |title=NASA engineers hope to send a robot snake to explore Saturn's icy moon Enceladus |url=https://www.cbc.ca/radio/quirks/nasa-engineers-hope-to-send-a-robot-snake-to-explore-saturn-s-icy-moon-enceladus-1.6841154 |access-date=November 9, 2024 |work=Canadian Broadcasting Corporation}}</ref> including steep craters.<ref>{{Cite web |date=2024-12-10 |title='Snakes' on the moon? These helpers could soon join our lunar mission. |url=https://www.nationalgeographic.com/science/article/lunar-robot-snakes-explore-the-moon-nasa |access-date=2024-12-10 |website=Science |language=en}}</ref> Unlike traditional rovers, which can get stuck on uneven ground, snakebots can adapt to challenging terrains, slithering over rocks or squeezing into crevices to gather data in places otherwise inaccessible. An example is the [[Exobiology Extant Life Surveyor]] designed to explore the surface and the oceans of [[Enceladus]], a moon of Saturn.<ref>{{Cite web |title=How EELS could change the future of robotic exploration |url=https://www.planetary.org/articles/how-eels-could-change-the-future-of-robotic-exploration |access-date=2024-12-10 |website=The Planetary Society |language=en}}</ref>

==Locomotion==
Traditional Snakebots move by changing the shape of their body, similar to actual snakes. Many variants have been created that use wheels or treads for movement. There has yet to be any Snakebots that accurately approximate the locomotion of real snakes. However, researchers have produced new movement methods that do not occur in nature.{{Citation needed|date=September 2024}} 

In snakebot research, a [[gait]] is a periodic mode of locomotion/movement. [[Sidewinding]] and [[lateral undulation]] are both examples of gaits. Snakebot gaits are often designed by investigating period changes to the shape of the robot. For example, a [[caterpillar]] moves by changing the shape of its body to match a [[sinusoidal wave]]. Similarly, a snakebot can move by adapting its shape to different periodic functions.<ref>{{Cite web |title=Snakebot |url=https://www.cs.rochester.edu/u/nelson/courses/csc_robocon/robot_manual/snakebot/snakebot.html |access-date=2024-10-16 |website=www.cs.rochester.edu}}</ref>

[[Crotalus cerastes|Sidewinder rattlesnakes]] can ascend sandy slopes by increasing the portion of their bodies in contact with the sand to match the reduced yielding force of the inclined sand, allowing them to ascend [[Angle of repose|the maximum possible sand slope]] without slip.<ref name="sciencemag1">{{cite journal|last=Marvi |first=Hamidreza |url=https://www.science.org/doi/abs/10.1126/science.1255718 |title=Sidewinding with minimal slip: Snake and robot ascent of sandy slopes |journal=Science |date=2014-10-10 |volume=346 |issue=6206 |pages=224–229 |doi=10.1126/science.1255718 |pmid=25301625 |arxiv=1410.2945 |bibcode=2014Sci...346..224M |s2cid=23364137 |accessdate=2016-05-04}}</ref> Snakebots that side-wind can replicate this ascent.<ref name="sciencemag1" />

==Current research==
Snakebots are currently being researched as a new type of [[robotic]], [[Interplanetary spaceflight|interplanetary]] [[Space probe|probe]] by engineers at the [[NASA Ames Research Center]]. Software for snakebots is also being developed by [[NASA]], so that they can learn by experiencing the skills to scale obstacles and remembering the techniques.<ref>{{Cite web |last= |title=JPL's Snake-Like EELS Slithers Into New Robotics Terrain |url=https://www.jpl.nasa.gov/news/jpls-snake-like-eels-slithers-into-new-robotics-terrain |access-date=2024-05-07 |website=NASA Jet Propulsion Laboratory (JPL) |language=en-US}}</ref>

Snake robots are also being developed for [[search and rescue]] purposes at [[Carnegie Mellon University|Carnegie Mellon]] University's Biorobotics Lab.<ref name=":0">{{Cite web |title=SnakeBots - Carnegie Mellon University |url=https://www.cmu.edu/homepage/collaboration/2008/summer/snakebots.shtml |access-date=2024-02-02 |website=www.cmu.edu}}</ref>

==See also==
* [[Snake-arm robot]]
* [[Roboboa]]
* {{section link|Bio-inspired robotics#Limbless locomotion}}

==References==
{{reflist}}

==External links==
* [http://robotnor.no/expertise/robotic-systems/snake-robots ROBOTNOR - The Norwegian Centre for Advanced Robotics at NTNU and SINTEF]
* [https://web.archive.org/web/20140706230620/http://www.sintef.no/home/Information-and-Communication-Technology-ICT-old/Applied-Cybernetics/Projects/Our-snake-robots/ SINTEF's web pages]
* [https://www.cs.cmu.edu/news/carnegie-mellon-snake-robot-winds-its-way-through-pipes-vessels-uclear-power-plant/ Carnegie Mellon University's snake robots]
* [http://www.modsnake.com Modular Snake Robots]
* [https://web.archive.org/web/20050326054322/http://www.engin.umich.edu/research/mrl/00MoRob_6.html University of Michigan's OmniTread Serpentine Robot]
* [http://electronics.howstuffworks.com/snakebot.htm How Stuff Works Snakebot]
* [http://www.snakerobots.com Robot Snakes of Dr. Gavin Miller]
* [http://www.thinkbotics.com/serpentronic.htm Serpentronic Robot Snake Project]
* [http://singularityhub.com/2010/09/02/carnegie-mellons-incredible-robot-snake-climbs-a-real-tree-video/ Carnegie Mellon's Incredible Robot Snake Climbs a Real Tree]
* [http://www.militaryaerospace.com/articles/print/volume-11/issue-11/features/special-report/the-next-new-frontier-of-artificial-intelligence.html The next 'new frontier' of artificial intelligence]
* [http://www.sneel.co Sneel Swimming Snake Robot]

[[Category:Robotic snakes| ]]
[[Category:Robots]]
[[Category:Technology]]
[[Category:Engineering]]
[[Category:Robots by method of locomotion]]