Design and Architecture of a Series Elastic Snake Robot
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4630 - 4636, September, 2014
Abstract
This paper details the design and architecture of a series elastic actuated snake robot, the SEA Snake. The robot consists of a series chain of 1-DOF modules that are capable of torque, velocity and position control. Additionally, each module includes a high-speed Ethernet communications bus, internal IMU, modular electro-mechanical interface, and ARM based on-board control electronics.
BibTeX
@conference{Rollinson-2014-121422,author = {D. Rollinson and Y. Bilgen and B. Brown and F. Enner and S. Ford and C. Layton and J. Rembisz and M. Schwerin and A. Willig and P. Velagapudi and H. Choset},
title = {Design and Architecture of a Series Elastic Snake Robot},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2014},
month = {September},
pages = {4630 - 4636},
}
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