Callie Branyan

2 accepted papers

2020

Snake-Inspired Kirigami Skin for Lateral Undulation of a Soft Snake Robot

Callie Branyan, Ross L. Hatton, Yigit Mengüç

RA-L 2020

Frictional anisotropy, as produced by the directionality of scales in snake skin, is necessary to propel snakes across flat, hard surfaces. This work illustrates the design, fabrication, and testing of a snake-inspired skin based on kirigami techniques that, when attached to a soft snake robot, impr

Cited by 48 Source ↗Scholar ↗

2018

Soft Snake Robots: Investigating the Effects of Gait Parameters on Locomotion in Complex Terrains

Callie Branyan, Yiğit Menğüç

IROS 2018poster

Compliant materials used to create soft robots can better replicate biological structures than typical rigid materials. We can look to nature for developing locomotion strategies for these soft-bodied robots. In this work, snakes were used as inspiration to create an inextensible, soft robot which w…

Cited by 33 Source ↗Scholar ↗