Snakes are a remarkable source of inspiration for mobile search-and-rescue robots. Their unique slender body structure and multiple modes of locomotion are well-suited to movement in narrow passages and other difficult terrain. The design, manufacturing, modeling, and control techniques of soft robotics make it possible to imitate the structure, mechanical properties, and locomotion gaits of snakes, opening up new possibilities in robotics research. Building on our track record of contributions in this area, this article presents a soft robotic snake made of modules that can actively deform in three-dimensional (3D) and rigorously studies its performance under a range of conditions, including gait parameters, number of modules, and differences in the environment. A soft 3D-printed wave spring sheath is developed to support the robot modules, increasing the snake's performance in climbing steps threefold. Finally, we introduce a simulator and a numerical model to provide a real-time simulation of the soft robotic snake. With the help of the real-time simulator, it is possible to develop and test new locomotion gaits for the soft robotic snake within a short period of time, compared with experimental trial and error. As a result, the soft robotic snake presented in this article is able to locomote on different surfaces, perform different bioinspired and custom gaits, and climb over steps.

中文翻译：

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3D 软机器人蛇的设计、分析和实时仿真

蛇是移动搜救机器人的重要灵感来源。它们独特的细长身体结构和多种运动方式非常适合在狭窄通道和其他困难地形中移动。软体机器人的设计、制造、建模和控制技术使模仿蛇的结构、力学性能和运动步态成为可能，为机器人研究开辟了新的可能性。基于我们在这一领域的贡献记录，本文介绍了一种由模块制成的软机器人蛇，可以在三维 (3D) 中主动变形，并严格研究其在一系列条件下的性能，包括步态参数、模块数量，以及环境的差异。开发了一种柔软的 3D 打印波形弹簧护套来支撑机器人模块，将蛇在爬台阶中的性能提高三倍。最后，我们介绍了一个模拟器和一个数值模型，以提供软机器人蛇的实时模拟。与实验试错相比，借助实时模拟器，可以在短时间内开发和测试软机器人蛇的新运动步态。因此，本文中介绍的软机器人蛇能够在不同的表面上移动，执行不同的仿生和自定义步态，并爬过台阶。与实验试错相比，可以在短时间内为软机器人蛇开发和测试新的运动步态。因此，本文中介绍的软机器人蛇能够在不同的表面上移动，执行不同的仿生和自定义步态，并爬过台阶。与实验试错相比，可以在短时间内为软机器人蛇开发和测试新的运动步态。因此，本文中介绍的软机器人蛇能够在不同的表面上移动，执行不同的仿生和自定义步态，并爬过台阶。