Bio-inspired Serpentine Robot for Excavation and Inspection Applications

ABSTRACT Over the years, significant advancements have been made in the field of robotics, with a strong emphasis on automating industrial tasks, reducing human effort, and improving work efficiency. Biologically inspired robotics is a subset of robotics that draws inspiration from natural organisms to achieve greater efficiency, flexibility, and maneuverability. Among these, snake robots excel in navigating complex environments where traditional mobile robots struggle. This paper presents the design and development of a serpentine robot for applications such as excavation and inspection. The developed prototype is 3D-printed using poly lactic acid, ensuring a lightweight and customizable design. The robot features a modular structure, enabling serpentine motion through MG995 plastic gear servo motors, which are controlled using an Arduino microcontroller. Additionally, the end effector incorporates a spiral auger, allowing the robot to dig through soil and debris effectively. A radio frequency (RF)-based transmitter and receiver system enables remote control operation. A night-vision spy camera mounted on the robot provides real-time visual feedback via Wi-Fi, further improving its operational capabilities. Furthermore, the modular design allows for the integration of additional sensors in the future to improve perception and adaptability for specific applications. With its ability to navigate narrow and uneven terrains, this robot represents a significant advancement in biologically inspired robotics, offering a versatile platform for various challenging tasks.