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http://dx.doi.org/10.5302/J.ICROS.2011.17.7.697

Development of a Snake Robot with 2-DOF Actuator Modules  

Shin, Ho-Cheol (Korea Atomic Energy Research Institute)
Jeong, Kyung-Min (Korea Atomic Energy Research Institute)
Kwon, Jeong-Joo (Korea Atomic Energy Research Institute)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.7, 2011 , pp. 697-703 More about this Journal
Abstract
This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.
Keywords
snake robot; 2-DOF actuator module; 3D space; cross obstacle; rough terrain;
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