Design and architecture of the unified modular snake robot - Robotics Institute Carnegie Mellon University

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, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4347 - 4354, May, 2012

Abstract

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.

BibTeX

@conference{Wright-2012-7494,
author = {Cornell Wright III and Austin Buchan and H. Benjamin Brown and Jason Geist and Michael Schwerin and David Rollinson and Matthew Tesch and Howie Choset},
title = {Design and architecture of the unified modular snake robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2012},
month = {May},
pages = {4347 - 4354},
}