Snake Robotics Research Index

From DellinWiki
Jump to: navigation, search

Contents

Research Snakes

  • 1970s? - Active Cord Mechanism - Shigeo Hirose from the Tokyo Institute of Technology
    • Latest incarnation (as of 03?) - ACM-R3 (MORI, M.; Hirose, S.; "Three-dimensional serpentine motion and lateral rolling by active cord mechanism ACM-R3," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 829-834 vol.1, Oct. 2002)
  • 1992 - Shan -- vertical pins, using obstacles for locomotion, rigid-links. Flat floors, concertina.
  • 1992 - Image:Logo_caltech.png Joel Burdick / Greg Chirikjian - "Snakey" - discrete parts, linear actuators? Curves in R3? "Algorithm for fitting manipulator segments to [a] desired curve" (Dowling). Calculus of variations mothod for calculating curves. Cost functions. Obstacle avoidance. Used rachet wheels for some snakes. Sidewinding in [Burdick 95]. Sork on geometric phases to describe robot locomotion [Kelly 95]
  • 1993-1995 - RoboTuna (Dave Barrett)
  • 1995 - Image:Logo_nec.png The Quake Snake aka Orochi, w/ Ikeda and Takanashi
    • seven-segment device, really really great joint mechanisms. "great promise for real applications." key lesson (from dowling): effective packaging of the mechanism, slim design, and modularity.
  • 1995 - Margin Nilsson, Swedish Institute for CS, neat 3-DOF U-joint-like joint, makes the rolling gaits possible. Also, leaning techniques for using differences in static and dynamic friction for locomotion (e.g. concertina).
  • 1995 - Image:Logo_nasa.png JPL Snake Robot Picture
    • Referenced later by CMU as a joint-drive "Angular Swivel Design" robot
  • 1996 - Karl Paap, GMD in Germany, snake devices to demonstate real-time control. Sections of cable to curve along several short segments. Joining segments (with the actual actuators) do not move. Limited locomotion, but "the cable drives have been a design challnege".
    • Interesting because: there are rib-like segments, using cable drives, that connect between non-adjoining segments.
    • Two separate parts: ribbed parts and actuator-holding parts. Can be combined, and would look like our stuff.
  • 1997 - Dowling Dissertation - "Limbless Locomotion: Learning to Crawl with a Snake Robot"
  • 2004 - Pacific Lutheran U: Comp Sci / Comp Eng Capstone Project - Brad Oraw and Jeremy Tinder
    • Project homepage
    • A lot like our design -- actuation between ribs, but using U-joints; two servos per joint, but no physical examples of 3d gaits.
  • Image:Logo_cmu.png CMU Biorobotics Lab - Howie Choset
  • Image:Logo_umich.png University of Michigan's Mobile Robotics Lab
    • OmniTread - discrete, treads around all edges
      • OmniTread Robot Paper
      • OmniTread Robot Presentation
      • There's a "drive shaft spine" running down the center of the robot -- but it's just a U-jointed shaft for power -- actually, it does seem to be a structural spine, as well.
      • Pneumatic bellows for actuation, compliance, stiffness control
      • Sorta like rib-actuation, using pneumatics: Actuator Paper
  • Dr. Gavin Miller's snake robots
    • Really cool simulations
    • S1, S2 based on Shigeo Hirose's earlier work
    • S3, S5, S7 based on U-joint spine, using "brass rod" servo rib-driven design
  • Sintef's U-joint robots - from Norway? - using pneumatics, hydraulics, or motors. Actuation between ribs?
  • Olin Fall 07 One-servo snake:
  • Olin RoboTunda (via Gui)

Hobbyist Snakes

ThinkBotics Servo Snakes

Snake Papers Index

Indexes

Retrieved from "http://dellin.net/Snake_Robotics_Research_Index"
Personal tools