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Lateral undulation of a snake-like robot

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dc.contributor.advisor Hani Sallum. en_US Gupta, Amit en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US 2007-08-29T20:47:34Z 2007-08-29T20:47:34Z 2007 en_US 2007 en_US
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. en_US
dc.description Includes bibliographical references (p. 117-121). en_US
dc.description.abstract Snake robots have been studied by many researchers but historically more on a theoretical basis. Recently, more and more robotic snakes have been realized in hardware. This thesis presents a design process for the electrical, sensing, and mechanical systems needed to build a functional robotic snake capable of tactile and force sensing. Implementing a simple scheme which allows this capability permits the robot to laterally undulate without the use of wheels. The design methodology and implementation is detailed with schematics and a summary of results obtained from the hardware. Through manipulation of the body shape, the robot was able to move in the horizontal plane by pushing off of obstacles to create propulsive forces. It was found that lateral undulation is highly dependent on the actuator torque output and environmental friction. en_US
dc.description.statementofresponsibility by Amit Gupta. en_US
dc.format.extent 121 p. en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.subject Mechanical Engineering. en_US
dc.title Lateral undulation of a snake-like robot en_US
dc.type Thesis en_US S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 166143928 en_US

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