A robot snake to inspect broken buildings

Paap, K.L.; Christaller, Thomas; Kirchner, Frank

doi:10.1109/iros.2000.895277

Cited by 37 publications

(19 citation statements)

References 5 publications

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“…A combination of a snakelike system with wheels [5] or tracks [6,7] allows achieving similar mobility with a smaller number of elements and significantly simplified control. While a system with wheels is easier to realize regarding the mechanical design, tracks guarantee a higher mobility in difficult terrain.…”

Section: State Of the Artmentioning

confidence: 99%

Traloc – Teleoperated Snake-Robot With Tracks on Each Segment, for Searching Victims in Collapsed Buildings

et al. 2011

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Section: State Of the Artmentioning

confidence: 99%

Traloc – Teleoperated Snake-Robot With Tracks on Each Segment, for Searching Victims in Collapsed Buildings

et al. 2011

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“…1). Actually, it is a general mobile platform and can be extended for various applications [3], [4]. Each single robotic unit in the JL-I system has reasonable locomotion ability.…”

Section: Introductionmentioning

confidence: 99%

Efficient kinematic solution to a multi-robot with serial and parallel mechanisms

Zhang

Salvietti

Wang

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechanisms endowing the robotic system with the ability of changing shapes in three dimensions. The active joint here can combine the advantages of the high rigidity of a parallel mechanism and the extended workspace of a serial mechanism. However, the kinematic analysis of the serial and parallel mechanism is always the bottleneck in designing a robot and control realization. In order to deal with this problem, the whole kinematical analysis is organized in the sequence from the direct mechanical analysis related to the serial and parallel mechanism over the numerical solutions to the simplified kinematics expression. The latest results obtained demonstrate that the deduced closure-form solution is time efficient and easy to implement while offering a satisfactory motion performance in on-site experiments.

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“…More recently, Klaassen and Paap (1999) and Paap et al (2000) at the German Institute for System Design Technology (GMD) developed the Snake2 vehicle, which contains six active segments and a head. Each round segment has an array of 12 electrically driven wheels evenly spaced around its periphery.…”

Section: Introductionmentioning

confidence: 99%

The OmniTread OT‐4 serpentine robot—design and performance

Borenstein

Hansen

Borrell

2007

Journal of Field Robotics

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Serpentine robots are slender, multi-segmented vehicles designed to provide greater mobility than conventional mobile robots. Serpentine robots are ideally suited for urban search and rescue, military intelligence gathering, and for inspection tasks in hazardous or inaccessible environments. One such serpentine robot, developed at the University of Michigan, is the "OmniTread OT-4." The OT-4 comprises seven segments, which are linked to each other by six joints. The OT-4 can climb over obstacles that are much higher than the robot itself, propel itself inside pipes of different diameters, and traverse difficult terrain, such as rocks or the rubble of a collapsed structure.The foremost and unique design characteristic of the OT-4 is the use of pneumatic bellows to actuate the joints. The pneumatic bellows allow the simultaneous control of position and stiffness for each joint is important in serpentine robots, which require stiff joints to cross gaps and compliant joints to conform to rough terrain for effective propulsion.Another unique feature of the OmniTread design is the coverage of all four sides of each segment with driven tracks. This design makes the robot indifferent to roll-overs, which are bound to happen when the slender bodies of serpentine robots travel over rugged terrain.

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A robot snake to inspect broken buildings

Cited by 37 publications

References 5 publications

Traloc – Teleoperated Snake-Robot With Tracks on Each Segment, for Searching Victims in Collapsed Buildings

Traloc – Teleoperated Snake-Robot With Tracks on Each Segment, for Searching Victims in Collapsed Buildings

Efficient kinematic solution to a multi-robot with serial and parallel mechanisms

The OmniTread OT‐4 serpentine robot—design and performance

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