Toroidal skin drive for snake robot locomotion

被引：40

作者：

McKenna, James C. ^{[1
]}

Anhalt, David J. ^{[1
]}

Bronson, Frederick M. ^{[1
,2
]}

Ben Brown, H. ^{[3
]}

Schwerin, Michael ^{[3
]}

Shammas, Elie ^{[3
]}

Choset, Howie ^{[3
]}

机构：

[1] SAIC, Intelligent Syst Applicat Div, Englewood, CO 80112 USA

[2] Leitner Poma Amer Inc, Grand Junction, CO 80501 USA

[3] Carnegie Mellon Univ, Pittsburgh, PA 15213 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543359

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Small robots have the potential to access confined spaces where humans cannot go. However, the mobility of wheeled and tracked systems is severely limited in cluttered environments. Snake robots using biologically inspired gaits for locomotion can provide better access in many situations, but are slow and can easily snag. This paper introduces an alternative approach to snake robot locomotion, in which the entire surface of the robot provides continuous propulsive force to significantly improve speed and mobility in many environments.

引用

页码：1150 / +

页数：2

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