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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Bibliographic Details
Published in2012 IEEE International Conference on Robotics and Automation pp. 4347 - 4354
Main Authors Wright, Cornell, Buchan, Austin, Brown, Ben, Geist, Jason, Schwerin, Michael, Rollinson, David, Tesch, Matthew, Choset, Howie
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2012
Subjects
Connectors
Joints
Robot kinematics
Robot sensing systems
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ISBN9781467314039
146731403X
ISSN1050-4729
DOI10.1109/ICRA.2012.6225255

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Summary: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.
ISBN:9781467314039
146731403X
ISSN:1050-4729
DOI:10.1109/ICRA.2012.6225255