0

Full Content is available to subscribers

Subscribe/Learn More  >

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
doi:10.1115/DETC2011-48547
From:
  • 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

abstract

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

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In