DocumentCode
138563
Title
Design and architecture of a series elastic snake robot
Author
Rollinson, David ; Bilgen, Yigit ; Brown, Ben ; Enner, Florian ; Ford, Steven ; Layton, Curtis ; Rembisz, Justine ; Schwerin, Mike ; Willig, Andreas ; Velagapudi, Prasanna ; Choset, Howie
Author_Institution
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear
2014
fDate
14-18 Sept. 2014
Firstpage
4630
Lastpage
4636
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
control engineering computing; position control; redundant manipulators; torque control; velocity control; 1-DOF module; ARM; SEA Snake; high-speed Ethernet communications bus; internal IMU; modular electro-mechanical interface; on-board control electronics; position control; series elastic actuated snake robot; torque control; velocity control; Cameras; Connectors; Gears; Robot sensing systems; Springs; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location
Chicago, IL
Type
conf
DOI
10.1109/IROS.2014.6943219
Filename
6943219
Link To Document