/Modular Snake Robots

Modular Snake Robots

Portrait of Modular Snake Robots
Head: Howie Choset
Contact: Howie Choset
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Last Project Publication Year: 2012

Articulated locomoting robots are the center of ongoing research project in the Robotics Institute Biorobotics lab. We call our robots Modsnakes because they have a modular, i.e. repeating, structure of the same element. Each module has a single rotational degree of freedom and when chained together, form the snake robot. By controlling the position of each module the robots can locomote over terrain and interact with their environment in ways more conventional robots cannot. This includes climbing the inside and outside of pipes.

Displaying 9 Publications
Expensive Multiobjective Optimization and Validation with a Robotics Application
Matthew Tesch, Jeff Schneider and Howie Choset

Workshop Paper, Neural Information Processing Systems: Workshop on Bayesian Optimization & Decision Making, December, 2012
Using Kinesthetic Input to Overcome Obstacles with Snake Robots
Matthew Tesch, Alexander ONeill and Howie Choset

Conference Paper, IEEE International Symposium on Safety, Security, and Rescue Robotics, November, 2012
Environmentally adaptive control policies for expensive systems
Matthew Tesch, Jeff Schneider and Howie Choset

Conference Paper, International Conference on Climbing and Walking Robots, July, 2012
Design and architecture of the unified modular snake robot
Cornell Wright III, Austin Buchan, H. Benjamin Brown, Jason Geist, Michael Schwerin, David Rollinson, Matthew Tesch and Howie Choset

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2012
Adapting Control Policies for Expensive Systems to Changing Environments
Matthew Tesch, Jeff Schneider and Howie Choset

Workshop Paper, Neural Information Processing Systems: Workshop on Bayesian Optimization, Experimental Design, and Bandits, December, 2011
Adapting Control Policies for Expensive Systems to Changing Environments
Matthew Tesch, Jeff Schneider and Howie Choset

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2011
Using Response Surfaces and Expected Improvement to Optimize Snake Robot Gait Parameters
Matthew Tesch, Jeff Schneider and Howie Choset

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1069 - 1074, September, 2011
A Novel Architecture for Modular Snake Robots
Aaron M. Johnson, Cornell Wright III, Matthew Tesch, Kevin Lipkin and Howie Choset

Tech. Report, CMU-RI-TR-11-29, Robotics Institute, Carnegie Mellon University, August, 2011
Parameterized and Scripted Gaits for Modular Snake Robots
Matthew Tesch, Kevin Lipkin, Isaac Brown, Ross Hatton, Aaron Peck, Justine M. Rembisz and Howie Choset

Journal Article, Advanced Robotics, Vol. 23, No. 9, pp. 1131-1158, June, 2009

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