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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
DOI :
10.1109/IROS.2014.6943219
