Mamba - A waterproof snake robot with tactile sensing
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OriginalversjonIEEE, . [Eds.] IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 (IROS 2014), Chicago, Ill. 14-18 Sept. 2014 p. 294-301 IEEE International Conference on Intelligent Robots and Systems. Proceedings, Curran Associates, Inc., 2014 10.1109/IROS.2014.6942575
This paper presents the snake robot Mamba, which is a modular, reconfigurable, and waterproof experimental platform developed to support the ongoing research on snake robot locomotion, including underwater locomotion. A novel contribution of the snake robot is its ability to measure environment contact forces acting along its body, which is achieved by isolating the actuator inside each joint module with a custom-designed force/torque sensor. The paper describes the design of this sensor and presents experimental results which illustrate its performance.
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