Design and Motion Planning for Serpentine Robots
Conference Paper, Proceedings of SPIE Smart Structures and Materials: Smart Electronics and MEMS, Vol. 3990, pp. 148 - 155, June, 2000
Abstract
Serpentine robots offer advances over traditional mobile robots and robot arms because they have enhanced flexibility and reachability, especially in convoluted environments. These mechanisms are especially well suited for search and rescue operations where making contact with surviving victims trapped in a collapsed building is essential. The same flexibility that makes serpentine robots incredibly useful also makes them difficult to design and control. This paper will describe the current status of serpentine robot design and path planning underway in our research group and point towards future directions of research.
Notes
also presented at the Tokyo Institute of Technology Super Mechano Systems Workshop, 3 Mar 2000
also presented at the Tokyo Institute of Technology Super Mechano Systems Workshop, 3 Mar 2000
BibTeX
@conference{Choset-2000-121499,author = {H. Choset and J. Luntz and E. Shammas and T. Rached and D. Hull and C. Dent},
title = {Design and Motion Planning for Serpentine Robots},
booktitle = {Proceedings of SPIE Smart Structures and Materials: Smart Electronics and MEMS},
year = {2000},
month = {June},
volume = {3990},
pages = {148 - 155},
}
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