Title :
The Modular Snake Robot Open Project: Turning animal functions into engineering tools
Author :
Melo, Kamilo ; Leon, Javier ; di Zeo, Alvaro ; Rueda, Vanesa ; Roa, Diego ; Parraga, Manuel ; Gonzalez, David ; Paez, Laura
Author_Institution :
KM-RoBoTa, Bogota, Colombia
Abstract :
This paper introduces the KM-RoBoTa´s Modular Snake Robot Open Project, as a part of the research and development activities of this Colombian institution. The contents of the paper are divided in two main parts. First, the aim of this bio-inspired project is presented, which is built upon the relationships between animal physiology and engineering tools. Second, the extension and re-categorization of the entire project using different research and development achievements of our institution, is presented. This includes developments of hardware, which can be summarized as the description of the machine, the sensors and the processing unit. Developments in software as loco-manipulation controllers, simulation tools and a robot architecture implementation to integrate either software and hardware. This paper is an insight of the outlooks in modular snake robot research by our institution, particularly modeling locomotion and implementing or improving perception and task capabilities under the bio-inspired gaze.
Keywords :
manipulators; mobile robots; research and development; Colombian institution; KM-RoBoTa modular snake robot open project; animal functions; animal physiology; bioinspired gaze; bioinspired project; engineering tools; hardware; loco-manipulation controllers; locomotion; modular snake robot research; recategorization; research and development activities; robot architecture; simulation tools; software; Actuators; Animals; Robot kinematics; Robot sensing systems; Software;
Conference_Titel :
Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on
Conference_Location :
Linkoping
Print_ISBN :
978-1-4799-0879-0
DOI :
10.1109/SSRR.2013.6719368