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Proceedings Paper

Design and motion planning for serpentine robots
Author(s): Howie M. Choset; Jonathan E. Luntz; Ellie Shammas; Tarek Rached; Douglas Hull; Christina C. Dent
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Paper Abstract

Serpentine robots offer advances over traditional mobile robots and robot arms because they have enhanced flexibility and reachability, especially in convoluted environments. These mechanisms are especially well suited for search and rescue operations where making contact with surviving victims trapped in a collapsed building is essential. The same flexibility that makes serpentine robots incredibly useful also makes them difficult to design and control. This paper will describe the current status of serpentine robot design and path planning underway in our research group and point towards future directions of research.

Paper Details

Date Published: 21 June 2000
PDF: 8 pages
Proc. SPIE 3990, Smart Structures and Materials 2000: Smart Electronics and MEMS, (21 June 2000); doi: 10.1117/12.388894
Show Author Affiliations
Howie M. Choset, Carnegie Mellon Univ. (United States)
Jonathan E. Luntz, Univ. of Michigan (United States)
Ellie Shammas, Carnegie Mellon Univ. (United States)
Tarek Rached, Carnegie Mellon Univ. (United States)
Douglas Hull, Carnegie Mellon Univ. (United States)
Christina C. Dent, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 3990:
Smart Structures and Materials 2000: Smart Electronics and MEMS
Vijay K. Varadan, Editor(s)

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