NDLI: A snake robot with a contact force measurement system for obstacle-aided locomotion

Content Provider	IEEE Xplore Digital Library
Author	Liljebäck, P. Pettersen, K.Y. Stavdahl, Ø.
Copyright Year	2010
Description	Author affiliation: Department of Engineering Cybernetics at the Norwegian University of Science and Technology, NO-7491 Trondheim, Norway (Liljebäck, P.; Pettersen, K.Y.; Stavdahl, Ø.)
Abstract	A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have two features: 1) a smooth exterior surface combined with 2) a contact force sensing system. These two features are characteristic of biological snakes, but have received limited attention in snake robot designs so far. This paper describes the development of a new snake robot aimed at meeting both these requirements. The paper details the design and implementation of the snake robot, presents experimental results that validate the function of the contact force measurement system, and demonstrates some of the motion capabilities of the robot.
Starting Page	683
Ending Page	690
File Size	955738
Page Count	8
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509839
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force measurement Mobile robots Robot sensing systems Propulsion Orbital robotics Robotics and automation Legged locomotion Wheels Cybernetics Force control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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