Design and architecture of the unified modular snake robot

The design of a hyper-redundant serial-linkage snake robot is the focus of this paper. The snake, which consists of many fully enclosed actuators, incorporates a modular architecture. In our design, which we call the Unified Snake, we consider size, weight, power, and speed tradeoffs. Each module in...

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Hauptverfasser: Wright, Cornell, Buchan, Austin, Brown, Ben, Geist, Jason, Schwerin, Michael, Rollinson, David, Tesch, Matthew, Choset, Howie
Format: Tagungsbericht
Sprache:eng
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Beschreibung
Zusammenfassung:The design of a hyper-redundant serial-linkage snake robot is the focus of this paper. The snake, which consists of many fully enclosed actuators, incorporates a modular architecture. In our design, which we call the Unified Snake, we consider size, weight, power, and speed tradeoffs. Each module includes a motor and gear train, an SMA wire actuated bistable brake, custom electronics featuring several different sensors, and a custom intermodule connector. In addition to describing the Unified Snake modules, we also discuss the specialized head and tail modules on the robot and the software that coordinates the motion.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2012.6225255