Snake robot thesis

Thesis Orals Control and Design of Snake Robots Snake robots are ideally suited to highly confined environments because their small cross-sections and highly redundant kinematics allow them to enter and move through tight spaces with a high degree of dexterity.

Snake robot thesis

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders.

These works may not be reposted without the explicit permission of the copyright holder. Abstract Snake robots are ideally suited to highly confined environments because their small cross-sections and highly redundant kinematics allow them to enter and move through tight spaces with a high degree of dexterity.

De- spite these theoretical advantages, snake robots also pose a number of prac- tical challenges that have limited their usefulness in the field. This thesis makes progress towards addressing these issues with two main areas of contribution. In the first part, we provide tools for support- ive autonomy in snake robots.

To demonstrate these contributions in a practical application, we use them to enable a snake robot to navigate a real-world underground pipe network. One of the most limiting characteristics of our snake robots and robots in general is the inability to precisely sense and control the torques and forces of their actuators.

As such, the second part of this thesis focuses on the design and control of a new series-elastic actuated snake robot that incor- porates a high performance series-elastic actuator SEA and torque control.

After describing the novel design of the SEA, we discuss our perspective on how to incorporate torque control and series elasticity into snake robots. Finally, we demonstrate prototypes of new low impedance motions for snake robots. These motions naturally comply to obstacles and unstructured ter- rain, and open a new avenue of research for snake robot locomotion.He developed a primitive control system for snake-arm robots for his thesis.

“It was the most interesting-looking project on the notice board,” he laughs. “I’d never done anything like that, and it was pretty cool.” So far, Graham has 11 patents relating to snake .

control strategies for robots in contact a dissertation submitted to the department of aeronautics & astronautics and the committee on graduate studies. This thesis presents the pitch-and-yaw modular snake robot developed as a robotic platform to study snake robot locomotion.

The joint control of the robot was optimised and optimal gait parameters of the sinusoid function generators, which are used to generate the gaits, were obtained.

Nov 18,  · DLSU Snake Robot Thesis Group. This feature is not available right now.

Stanford's search and rescue snake robot is a slithering success

Please try again later. One of the most limiting characteristics of our snake robots (and robots in general) is the inability to precisely sense and control the torques and forces of their actuators.

As such, the second part of this thesis focuses on the design and control of a new series-elastic actuated snake robot that incor- porates a high performance series. DESIGN, ANALYSIS, AND FABRICATION OF A SNAKE-INSPIRED ROBOT WITH A RECTILINEAR GAIT By Brent William Spranklin Thesis submitted to the Faculty of the Graduate School of the.

Snake robot thesis
[email protected]: Lateral undulation of a snake-like robot