Any number of additional bots can be added with no specific change in architecture design. Telemanipulation of snakelike robots for minimally invasive. Based on can bus technologies, we developed a control system for a snakelike robot, which controls the movement of the snakelike robot effectively. Design of a modular snake robot latest seminar topics for. Carnegie mellon snake robot used in search for mexico quake survivors multijointed rescue robot gets first experience in live disaster carnegie mellon university researchers last week deployed a snakelike robot to search for trapped survivors in a mexico city apartment building that collapsed in the 7. Mar 15, 2017 stiffness design of a resonancebased planar snake robot with parallel elastic actuators duration. Body lateral deformation and compliance help snakes and snake robots stably traverse large. The underwater snake robot model is thus an extension of the landbased snake robot model and may be used for amphibious snake robots moving both on land and in water. In this edition of how stuff will work, youll find out how snakebots will explore other worlds, perform construction tasks and maybe even be sold as radiocontrolled toys.
Abstract of snake robotics free download as word doc. In particular, the paper considers previous research efforts. Interestingly a robot that looks like a human is probably the most difficult robot to make. The head contains three sonar and one ir sensor for detecting dangers obstacles or falls. Research on snake robots has been conducted for several decades. Think of these as a whole bunch of joints running down the body, making the robot highly dexterous.
Borenstein and his team dene the former as a modular robot that is propelled by motion of the joints relative to each other. Future applications of such robots include search and rescue, inspection and. This research focuses on developing and testing the high. Stiffness design of a resonancebased planar snake robot with parallel elastic actuators duration. Carnegie mellon snake robot used in search for mexico. Snake, known commonly as cardio arm, is an imagingsensing navigated and kinematically enhancedi snake. Series ii, x125 snakearm robot twi inbore welding trials alignment mechanism on snakearm render alignment mechanism and tool define results conclusion operating in a mockup, the laserpipe system navigated the environment before. Developments in snake robot modeling and locomotion. Letting such a robot glide into any of your other orifices may sound more alarming still.
Design and motion planning of a mechanical snake systems. University of pennsylvania, grasp lab seminar, december 6, 2019. Moreover, we accomplished two modes of control, centralized control and distributed control, on our snakelike robot. Inspired by the reptile of the same name, its long, skinny build makes it perfect for squeezing. Control and design of snake robots robotics institute carnegie. Snake robots full seminar reports, pdf seminar abstract, ppt, presentation, project idea, latest technology details, ask latest information. Snake, known commonly as cardio arm, is an imagingsensing navigated and kinematically enhancedisnake.
Bioinspired tendonoperated continuum robotics youtube. Structure and analysis of a snakelike robot springerlink. In collaboration with university of liverpool, the university of sheffield conducts research into areas of ground and air autonomous vehicles and systems biology as these are important technologies that are applicable to multiple industry sectors. Jul 30, 2018 i snake snake, known commonly as cardio arm, is an imagingsensing navigated and kinematically enhancedi snake. Snake robots come in many shapes and sizes, from the four stories long, earth quake snakebot developed by sintef, to a medical snakebot developed at carnegie mellon university that is thin enough to maneuver around organs inside a human chest cavity. The many degrees of freedom of snake robots make them dif10. Pettersen abstractthis paper considers the problem of model based control of the joints of a snake robot without wheels. George rahul paul s7 a,17meenu saji s7 b,28titto thomas s7 a,47tony mohan varghese s7 a,48vidya sekhar s7 b,50 2. Stanfords search and rescue snake robot grows into its role.
Robots with passive wheels design place small wheels on casters at the bottom of each link, facing in the tangential direction of the length of the robot function using passive wheels to resist lateral movement of the robots segments. Shape design of gel robots made of electroactive polymer trolo gel pdf. Estimating world motion of snake robots is often dif. There are many types of robots like mobile robots, rolling robots, walking robots, stationary robots, autonomous robots and remotecontrol robots. Once through this difficult area the snake comes to a region of the original floor of the house. A snakebot, also known as snake robot, is a biomorphic hyperredundant robot that resembles a biological snake. Telemanipulation of snakelike robots for minimally. Nagaina is a twelve degree of freedom snake robot designed, built, and programmed by me. Expanded pvc plastic, steel rod, and plastic gears. A free powerpoint ppt presentation displayed as a flash slide show on id.
Snake robots full seminar report, abstract and presentation. A robot needs to be above all functional and designed with qualities that suits its primary tasks. Using the accelerometers inside each module of the snake robot we are able to detect when the robot hits a pole or branch after being thrown and have the robot automatically perch on contact. Snakebots are expected to be more durable and cheaper than any probe that has ever been sent to investigate a planet. Robotics is an interdisciplinary research area at the interface of computer science and. Impact proposed system the snake robot intended to be designed will move around in a serpentine motion and theoretically speaking is the best movement for any robot to have. Snake robot seminar report, ppt, pdf for electrical. Research on snakelike robots expands the fields of application of robots. For wheelless snake robots, which allows the snake robot to push. Design and motion planning of a mechanical snake yansong shan and yoram koren, senior member, ieee abstractthe paper presents the design and motion planning for a mechanical snake robot that was built at the university of michigan.
Moreover, we accomplished two modes of control, centralized control and distributed control, on our snake like robot. Telemanipulation of snakelike robots for minimally invasive surgery of the upper airway ankur kapoor1, kai xu2, wei wei2, nabil simaan2, and russell h. Snake robots seminar report robotics nature scribd. Sumit thakur cse seminars robotics seminar and ppt with pdf report with growing developments in the field of mechatronics and mathematic modeling, robotics has come a long way. Where ai meets real world rise of machines if robots do develop consciousness, they may also develop conscience, and choose to be kind to their human creators. Wheeko is described in more detail in this chapter. The snake has long been one of the most compelling demos out of carnegie mellons robotics lab. The snake swishes its head from side to side to sweep the area clean of rubble. Letting a snakelike robot glide into your mouth and down your throat may sound a bit alarming. By this denition, our robots are snake robots, while omnipede and. The model can be extended to the case where the snake robot is not neutrally buoyant and moves in any 2d tilted plane, as shown in fig.
Nagainas kinematics allow for autonomous or manual control schemes. So called snakebot, is a modular, wheeled snakelike robot. Rather than a rigid robot rummaging through the rubble, the stanford snake starts life as a rolledup, insideout tube made of soft material, with a pump. Snakearm robots are highly flexible robots ideal for working in confined and hazardous spaces. Jul 20, 2017 rather than a rigid robot rummaging through the rubble, the stanford snake starts life as a rolledup, insideout tube made of soft material, with a pump at one end and a camera attached to the other. Download seminar report for snake robots, abstract, pdf, ppt.
Analyzing snake robot movements qualisys underwater motion. A snake is an extremely capable organism that can conquer harsh terrains like rock and sand with apparent ease. The many degrees of freedom of snake robots are challenging to control, but provide locomotive skills that far surpass more conventional robot designs. The first category of snakeinspired robot designs to be covered is arguably the most well known.
Dec 03, 2014 curved tendons can provide new capabilities to robots that look and act like elephants trunks or octopus tentacles. Design and architecture of a series elastic snake robot. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Driven by wire ropes, and controlled by oc robotics proprietary software, snakearm robots are able to traverse cluttered environments and conduct activities such as inspection, fastening and cleaning when integrated with offtheshelf or custom design tools. Research on snake like robots expands the fields of application of robots.
Cmu snake robots can now strangle things on contact. Ppt robotics powerpoint presentation free to download. Snake robots may one day play a crucial role in search and rescue operations and firefighting where it may either be too narrow or to dangerous for personnel to operate. Nov 30, 2016 interestingly a robot that looks like a human is probably the most difficult robot to make. The potential range of applications for snake robots are numerous. Is is usually a waste of time and not the most sensible thing to model a robot after a human being. Pdf developments in snake robot modeling and locomotion. Design and realization of snakelike robot control system. Aaron johnson, cornell wright, matthew tesch, kevin lipkin, and howie choset. Robotics seminar and ppt with pdf report with growing developments in the field of mechatronics and mathematic modeling, robotics has come a long way.
Snake robot multiple actuated joints implying multiple degrees of freedom. Small scales on the skin of the snake robot grip the walls and allow it to push forwards by changing the amplitude of its coils in one region while gripping with another. This paper provides an overview of previous literature on snake robot loco motion. Analyzing snake robot movements qualisys underwater. A snake robot typically consists of many serially connected joint modules capable of bending in one or more planes. The recent earthquake in turkey in november of 1999 left 700 dead and 5000 injured. How carnegie mellons snake robot became the multilegged. S7 is an experimental prototype that is still under development. Introduction a snakebot is a biomorphic hyperredundant robot that resembles a snake.
Design of a modular snake robot latest seminar topics. Carnegie mellon snake robot used in search for mexico quake. Based on can bus technologies, we developed a control system for a snake like robot, which controls the movement of the snake like robot effectively. Snake robots are ideally suited to highly confined environments because their small crosssections and highly redundant kinematics allow. Carnegies snake robot is a modular machine made of 16 motors known as actuators. Slithering snake robots could give future mars rovers an.
Like previous generations, the sea snake robot consists of a number of identical 1dof modules in which the actuated axes are oriented in the lateral and dorsal planes of the robot. Snake robots seminar report free download as word doc. Snake robots in space norwegian researchers are investigating how a snake robot might carry out maintenance work on the international space station iss, study comets, and explore the possibility of living and working in lava tunnels on the moon. This motivates the development of snake robots that actively use the terrain for locomotion. Abstract of snake robotics robot technology scribd.
The structure of the robot enables it to move without wheels. Inspired by the reptile of the same name, its long, skinny build makes it. Since their introduction by shigeo hirose, a number of current robot designs executed lateral undulation using passive wheels to mimic snake motion 1. Snake robots is a novel treatment of theoretical and practical topics related to snake robots.
The research field was pioneered about 40 years ago by professor shigeo hirose at tokyo institute of technology, who developed the worlds first snake robot as early as 1972 see hirose, 1993. In particular it avoids using wheels to achieve locomotion by implementing a more advanced segment design. The mechanism and control of a 20 degree of freedom snake robot is described and multiple gaits. The first category of snake inspired robot designs to be covered is arguably the most well known. Robots with passive wheels design place small wheels on casters at the bottom of each link, facing in the tangential direction of the length of the robot function using passive wheels to resist lateral movement of the robot s segments. Jul 06, 2017 the snake has long been one of the most compelling demos out of carnegie mellons robotics lab.