arXiv subjects

Sujaan Mukherjee

Publications and source records attributed to Sujaan Mukherjee.

2 recordsLinked to original sources

arXiv2025

Characterization and Evaluation of Screw-Based Locomotion Across Aquatic, Granular, and Transitional Media

Screw-based propulsion systems offer promising capabilities for amphibious mobility, yet face significant challenges in optimizing locomotion across water, granular materials, and transitional environments. This study presents a systematic investigation into the locomotion performance of various screw configurations in media such as dry sand, wet sand, saturated sand, and water. Through a principles-first approach to analyze screw performance, it was found that certain parameters are dominant in their impact on performance. Depending on the media, derived parameters inspired from optimizing heat sink design help categorize performance within the dominant design parameters. Our results provide specific insights into screw shell design and adaptive locomotion strategies to enhance the performance of screw-based propulsion systems for versatile amphibious applications.

cs.RO↗

arXiv2025

ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot

Robotic exploration in extreme environments, such as caves, oceans, and extraplanetary surfaces, poses significant challenges, specifically locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in such contexts due to variability in traction. This paper presents ARCSnake V2, an adaptation of ARCSnake V1 with additional amphibious capabilities for aquatic environments. ARCSnake V2 combines the high mobility of hyper-redundant snake robots with the terrain versatility of Archimedean screw propulsion. Key contributions include a water-sealed mechanical design with serially linked screw and joint actuation, and an integrated buoyancy control system. Extensive experiments validate its underwater capabilities for diving and surfacing, as well as force-regulated actuation. These capabilities position ARCSnake V2 as a versatile platform for exploration, search-and-rescue, and environmental monitoring in multi-domain settings.

cs.RO↗