Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Omni-tread Type Snake Robot: Mathematical Modeling and Implementation

Omni-tread 뱀 로봇 모델링 및 개발

  • 오상진 (충남대학교 BK21 메카트로닉스 사업단) ;
  • 이지홍 (충남대학교 BK21 메카트로닉스 사업단) ;
  • 최훈 ((주)코어벨)
  • Published : 2008.10.01
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Abstract

This article presents an omni-tread snake robot that designed to locomote on narrow space and rough terrain. The omni-tread snake robot comprises three segment, which are linked to each other by 2 degrees of freedom joints for the pitch and yaw motion. Moving tracks on all four sides of each segment guarantee propulsion even when the robot rolls over. The 2 DOF joint are actuated by 2 servo motors which produce sufficient torque to lift the one leading or trailing segments up and overcome obstacles. This paper applies articulated steering technique to get omni-tread snake robot's kinematics model.

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References

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Cited by

  1. Modular Type Robot for Field Moving and Tree Climbing vol.18, pp.2, 2012, https://doi.org/10.5302/J.ICROS.2012.18.2.118