Design and architecture of the unified modular snake robot

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
Schlagworte:
Connectors
Joints
Robot kinematics
Robot sensing systems
Skin
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creator Wright, Cornell
Buchan, Austin
Brown, Ben
Geist, Jason
Schwerin, Michael
Rollinson, David
Tesch, Matthew
Choset, Howie
description 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.
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subjects Connectors
Joints
Robot kinematics
Robot sensing systems
Skin
title Design and architecture of the unified modular snake robot
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