>>25707
>>26014
> The conclusion I came to was that you’d need at least 5 separate contractile regions, all independently addressable, AND able to contract dY for the snake-bot to be capable of any generalized sort of locomotion.
Yes, that's just what the design I described should do. By having the cable winches attached to several disc vertebrae down-body from each winch, the overlap of each set of cables emulates the overlap of muscles in a snake's body. In this way the contraction of each set of cables can be individually controlled to either stand alone or gang together over a distance of several vertebrae, and the size of each "muscle" group (and therefore the number of muscle groups) can be varied on the fly by the controlling code. The operation of the cable winch groups can be done in sequence along the body to emulate the sinuous movement of a snake, and the winch-and-cable sets in the vertical plane for coiling the body can be used to adjust the areas of contact with the surface the body is moving over. To be clear, each vertebra is attached to several winches by cables, and can be acted upon by one or any number of the cables attached to it. The force of each winch is spread over several vertebrae, but several winches acting on each vertebrae combine to increase the force applied. By varying the spacing of the vertebrae discs, the diameter of each vertebrae disc, vs the diameter of the foam body and the resiliency of the foam used for the body (say 8" dia. vertebrae spaced 6" and 12" body dia.), it should be possible for the coils to be as tight as a few inches. With a larger sized object, like anon's body, our lamia should have no problem exerting a firm grip. As with an arachne, anon should probably have a safe word.
Something I didn't think of before, real snakes are able to do a twisting motion with at least the forward part of their bodies, so we may also want to copy that.
The 18" body size I mentioned before was at the "hip" area before the tapering of the snake body. I should have made that clear.
>https://pubmed.ncbi.nlm.nih.gov/32271916/ (source analysis)
>https://pubmed.ncbi.nlm.nih.gov/36296136/ (proposed robotic design based on analysis)
Thanks, I'll take a look at these when I have a chance.
>===
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Edited last time by Chobitsu on 10/17/2023 (Tue) 10:04:25.