OTHER
Design and architecture of a series elastic snake robot
David Rollinson, Yigit Bilgen, B. H. Brown, Florian Enner, Steven Ford, Curtis J. Layton, Justine Rembisz, Mike Schwerin, Andrew Willig, Pras Velagapudi, Howie Choset
- Year
- 2014
- Citations
- 112
Abstract
This paper details the design and architecture of a series elastic actuated snake robot, the SEA Snake. The robot consists of a series chain of 1-DOF modules that are capable of torque, velocity and position control. Additionally, each module includes a high-speed Ethernet communications bus, internal IMU, modular electro-mechanical interface, and ARM based on-board control electronics.
Keywords
Modular designRobotEthernetComputer scienceTorqueSeries (stratigraphy)EngineeringComputer hardwareArtificial intelligencePhysics
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