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Design of a Drive Mechanism for a Rectilinear-Gait Based Snake-Inspired Robot

[+] Author Affiliations
James K. Hopkins, Satyandra K. Gupta

University of Maryland at College Park, College Park, MD

Paper No. DETC2011-48547, pp. 817-825; 9 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


Snake-inspired locomotion is much more maneuverable compared to conventional locomotion concepts and it enables a robot to navigate through rough terrain. A rectilinear gait is quite flexible and has the following benefits: functionality on a wide variety of terrains, enables a highly stable robot platform, and provides pure undulatory motion without passive wheels. These benefits make rectilinear gaits especially suitable for search and rescue applications. However, many previous robot designs utilizing rectilinear gaits were slow in speed. In this paper, a snake-inspired robot design and rectilinear gait capable of high speed locomotion are introduced. Our results from an initial prototype indicate that this concept is capable of achieving high speed. The developed prototype successfully demonstrated forward and turning motion.

Copyright © 2011 by ASME
Topics: Robots , Design , Mechanisms



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