Preliminary studies on modular snake robots applied on de-mining tasks

Kamilo Melo, Laura Paez, Monica Hernandez, Alexandra Velasco, Francisco Calderon, Carlos Parra

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16 Citas (Scopus)

Resumen

This paper addresses recent developments on Modular Snake Robots suited for applications on de-mining tasks. Inclusion of robotic platforms on the de-mining process will help tasks like the recognizance and perception of dangerous areas, minimizing human risk. As a mobile robot, the modular snake robot can move in a uneven terrain similar to a mined scenario. That is why, the main research efforts have been done on locomotion. Several contributions on this area are reported including gaits like: closed chain rolling, lateral rolling and a gait that use a helix shape both on the outside of cylinders. Another gait studied regards the swing movement of a modular robot chain hanging from one of its end modules. Contributions on robot architecture are reported here, including a distributed model predictive control and a multi-camera and sensor fusion. The perception problem of these robots also are researched by our lab and a pair of developments are shown here.

Idioma originalInglés
Título de la publicación alojada2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
DOI
EstadoPublicada - 2011
Evento2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Bogota, D.C., Colombia
Duración: 01 oct. 201104 oct. 2011

Serie de la publicación

Nombre2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings

Conferencia

Conferencia2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011
País/TerritorioColombia
CiudadBogota, D.C.
Período01/10/1104/10/11

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