2026-09-18T23:57:24Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/387092022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Hani Sallum.
Gupta, Amit
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2007-08-29T20:47:34Z
2007-08-29T20:47:34Z
2007
2007
http://hdl.handle.net/1721.1/38709
166143928
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (p. 117-121).
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.
by Amit Gupta.
S.M.
121 p.
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Lateral undulation of a snake-like robot
Thesis
application/pdf
Publication
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unknown
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