Share Email Print

Proceedings Paper

Assisted autonomy of articulated snake robots
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

Our lab has developed new capabilities for snake robots that allow them to successfully navigate networks of pipes. Recent developments in the control and state estimation of snake robots have enabled these capabilities. The development of a gait-based compliant controller enables us to develop more complex motions while at the same time simplifying the controls for the operator. Additionally, new state estimation techniques that exploit the robot's redundant sensing allow accurate estimation of the robot's orientation and kinematic configuration, even when significant amounts of sensor feedback is missing or corrupted.

Paper Details

Date Published: 3 June 2014
PDF: 13 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840P (3 June 2014); doi: 10.1117/12.2050504
Show Author Affiliations
David Rollinson, Carnegie Mellon Univ. (United States)
Howie Choset, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

© SPIE. Terms of Use
Back to Top