Lateral undulation of a snake-like robot
Name
166143928-MIT.pdf
Description
Full printable version
Size
14.91 MB
Format
Adobe PDF
Checksum (MD5)
c5876083779709efed23bc9922dbad8a
Author(s)
Gupta, Amit
Advisor(s)
Hani Sallum.
Date Issued
2007
Publisher
Massachusetts Institute of Technology
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.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (p. 117-121).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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