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Mamba - A waterproof snake robot with tactile sensing

Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy
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IROS+2014+-+Mamba+-+A+Waterproof+Snake+Robot+with+Tactile+Sensing.pdf (1.955Mb)
URI
http://hdl.handle.net/11250/284794
Date
2014
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  • Institutt for teknisk kybernetikk [2833]
  • Publikasjoner fra CRIStin - NTNU [26591]
Original version
IEEE, . [Eds.] IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 (IROS 2014), Chicago, Ill. 14-18 Sept. 2014 p. 294-301 IEEE International Conference on Intelligent Robots and Systems. Proceedings, Curran Associates, Inc., 2014   10.1109/IROS.2014.6942575
Abstract
This paper presents the snake robot Mamba, which is a modular, reconfigurable, and waterproof experimental platform developed to support the ongoing research on snake robot locomotion, including underwater locomotion. A novel contribution of the snake robot is its ability to measure environment contact forces acting along its body, which is achieved by isolating the actuator inside each joint module with a custom-designed force/torque sensor. The paper describes the design of this sensor and presents experimental results which illustrate its performance.
Description
- author postprint
Publisher
IEEE
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems

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